Description

Base class for a brake subsystem.

#include <ChBrake.h>

Inheritance diagram for chrono::vehicle::ChBrake:
Collaboration diagram for chrono::vehicle::ChBrake:

Public Member Functions

 ChBrake (const std::string &name)
 
virtual void Initialize (std::shared_ptr< ChChassis > chassis, std::shared_ptr< ChSuspension > suspension, VehicleSide side)=0
 Initialize the brake by associating it to an existing suspension subsystem. More...
 
virtual void Synchronize (double modulation)=0
 Update the brake subsystem: set the brake modulation. More...
 
void EnableLocking (bool val)
 Enable/disable ability of locking (default: false). More...
 
virtual double GetBrakeTorque ()=0
 Get the current brake torque.
 
- Public Member Functions inherited from chrono::vehicle::ChPart
 ChPart (const std::string &name)
 Construct a vehicle subsystem with the specified name. More...
 
const std::string & GetName () const
 Get the name identifier for this subsystem.
 
void SetName (const std::string &name)
 Set the name identifier for this subsystem.
 
virtual std::string GetTemplateName () const =0
 Get the name of the vehicle subsystem template.
 
void SetVisualizationType (VisualizationType vis)
 Set the visualization mode for this subsystem.
 
virtual void AddVisualizationAssets (VisualizationType vis)
 Add visualization assets to this subsystem, for the specified visualization mode.
 
virtual void RemoveVisualizationAssets ()
 Remove all visualization assets from this subsystem.
 
virtual void SetOutput (bool state)
 Enable/disable output for this subsystem.
 
bool OutputEnabled () const
 Return the output state for this subsystem.
 
virtual void ExportComponentList (rapidjson::Document &jsonDocument) const
 Export this subsystem's component list to the specified JSON object. More...
 
virtual void Output (ChVehicleOutput &database) const
 Output data for this subsystem's component list to the specified database.
 

Protected Attributes

bool m_can_lock
 can the brake lock?
 
- Protected Attributes inherited from chrono::vehicle::ChPart
std::string m_name
 subsystem name
 
bool m_output
 specifies whether or not output is generated for this subsystem
 

Additional Inherited Members

- Static Public Member Functions inherited from chrono::vehicle::ChPart
static ChMatrix33 TransformInertiaMatrix (const ChVector<> &moments, const ChVector<> &products, const ChMatrix33<> &vehicle_rot, const ChMatrix33<> &body_rot)
 Utility function for transforming inertia tensors between centroidal frames. More...
 
- Protected Member Functions inherited from chrono::vehicle::ChPart
virtual void Create (const rapidjson::Document &d)
 Create a vehicle subsystem from JSON data. More...
 
- Static Protected Member Functions inherited from chrono::vehicle::ChPart
static void ExportBodyList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChBody >> bodies)
 Export the list of bodies to the specified JSON document.
 
static void ExportShaftList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChShaft >> shafts)
 Export the list of shafts to the specified JSON document.
 
static void ExportJointList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLink >> joints)
 Export the list of joints to the specified JSON document.
 
static void ExportCouplesList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChShaftsCouple >> couples)
 Export the list of shaft couples to the specified JSON document.
 
static void ExportMarkerList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChMarker >> markers)
 Export the list of markers to the specified JSON document.
 
static void ExportLinSpringList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLinkTSDA >> springs)
 Export the list of translational springs to the specified JSON document.
 
static void ExportRotSpringList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLinkRSDA >> springs)
 Export the list of rotational springs to the specified JSON document.
 
static void ExportBodyLoadList (rapidjson::Document &jsonDocument, std::vector< std::shared_ptr< ChLoadBodyBody >> loads)
 Export the list of body-body loads to the specified JSON document.
 

Member Function Documentation

◆ EnableLocking()

void chrono::vehicle::ChBrake::EnableLocking ( bool  val)
inline

Enable/disable ability of locking (default: false).

Note that a derived class may or may not support this option.

◆ Initialize()

virtual void chrono::vehicle::ChBrake::Initialize ( std::shared_ptr< ChChassis chassis,
std::shared_ptr< ChSuspension suspension,
VehicleSide  side 
)
pure virtual

Initialize the brake by associating it to an existing suspension subsystem.

Parameters
chassisassociated chassis subsystem
suspensionassociated suspension subsystem
sidebrake mounted on left/right side

Implemented in chrono::vehicle::ChBrakeSimple, and chrono::vehicle::ChBrakeShafts.

◆ Synchronize()

virtual void chrono::vehicle::ChBrake::Synchronize ( double  modulation)
pure virtual

Update the brake subsystem: set the brake modulation.

The input value is in the range [0,1].

  modulation = 0 indicates no braking
  modulation = 1 indicates that the subsystem should provide maximum braking torque

Implemented in chrono::vehicle::ChBrakeSimple, and chrono::vehicle::ChBrakeShafts.


The documentation for this class was generated from the following files:
  • /builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/ChBrake.h
  • /builds/uwsbel/chrono/src/chrono_vehicle/wheeled_vehicle/ChBrake.cpp