brake.md

Brake

Derived from Device.

Brake {
}

Description

A Brake node can be used in a mechanical simulation in order to change the friction of a joint. The Brake node can be inserted in the device field of a HingeJoint, a Hinge2Joint, a SliderJoint, or a Track.

Brake Functions

wb_brake_set_damping_constant

wb_brake_get_type

%tab-component "language"

%tab "C"

#include <webots/brake.h>

void wb_brake_set_damping_constant(WbDeviceTag tag, double damping_constant);
int wb_brake_get_type(WbDeviceTag tag);

%tab-end

%tab "C++"

#include <webots/Brake.hpp>

namespace webots {
  class Brake : public Device {
    enum {ROTATIONAL, LINEAR};

    void setDampingConstant(double dampingConstant) const;
    int getType() const;
    // ...
  }
}

%tab-end

%tab "Python"

from controller import Brake

class Brake (Device):
    ROTATIONAL, LINEAR

    def setDampingConstant(self, dampingConstant):
    def getType(self):
    # ...

%tab-end

%tab "Java"

import com.cyberbotics.webots.controller.Brake;

public class Brake extends Device {
  public final static int ROTATIONAL, LINEAR;

  public void setDampingConstant(double dampingConstant);
  public int getType();
  // ...
}

%tab-end

%tab "MATLAB"

WB_ROTATIONAL, WB_LINEAR

wb_brake_set_damping_constant(tag, damping_constant)
type = wb_brake_get_type(tag)

%tab-end

%end

Description

set the damping constant coefficient of the joint and get the type of brake

The wb_brake_set_damping_constant function sets the value of the dampingConstant coefficient (Ns/m or Nms) of the joint. If any dampingConstant is already set using JointParameters the resulting dampingConstant coefficient is the sum of the one in the JointParameters and the one set using the wb_brake_set_damping_constant function.

The wb_brake_get_type function returns the type of the brake. It will return WB_ROTATIONAL if the sensor is associated with a HingeJoint or a Hinge2Joint node, and WB_LINEAR if it is associated with a SliderJoint or a Track node.

---

wb_brake_get_motor

wb_brake_get_position_sensor

%tab-component "language"

%tab "C"

#include <webots/brake.h>
#include <webots/motor.h>
#include <webots/position_sensor.h>

WbDeviceTag wb_brake_get_motor(WbDeviceTag tag);
WbDeviceTag wb_brake_get_position_sensor(WbDeviceTag tag);

%tab-end

%tab "C++"

#include <webots/Brake.hpp>
#include <webots/Motor.hpp>
#include <webots/PositionSensor.hpp>

namespace webots {
  class Brake : public Device {
    Motor *getMotor() const;
    PositionSensor *getPositionSensor() const;
    // ...
  }
}

%tab-end

%tab "Python"

from controller import Brake, Motor, PositionSensor

class Brake (Device):
    def getMotor(self):
    def getPositionSensor(self):
    # ...

%tab-end

%tab "Java"

import com.cyberbotics.webots.controller.Brake;
import com.cyberbotics.webots.controller.Motor;
import com.cyberbotics.webots.controller.PositionSensor;

public class Brake extends Device {
  public Motor getMotor();
  public PositionSensor getPositionSensor();
  // ...
}

%tab-end

%tab "MATLAB"

tag = wb_brake_get_motor(tag)
tag = wb_brake_get_position_sensor(tag)

%tab-end

%end

Description

get associated devices

The wb_brake_get_motor and wb_brake_get_position_sensor functions return the Motor and PositionSensor instances defined in the same Joint or Track device field. If none is defined they return 0.