src/FDM/JSBSim/FGGroundReactions.cpp

   1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
   2
   3  Module:       FGGroundReactions.cpp
   4  Author:       Jon S. Berndt
   5  Date started: 09/13/00
   6  Purpose:      Encapsulates the ground reaction forces (gear and collision)
   7
   8  ------------- Copyright (C) 2000  Jon S. Berndt (jsb@hal-pc.org) -------------
   9
  10  This program is free software; you can redistribute it and/or modify it under
  11  the terms of the GNU General Public License as published by the Free Software
  12  Foundation; either version 2 of the License, or (at your option) any later
  13  version.
  14
  15  This program is distributed in the hope that it will be useful, but WITHOUT
  16  ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
  17  FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
  18  details.
  19
  20  You should have received a copy of the GNU General Public License along with
  21  this program; if not, write to the Free Software Foundation, Inc., 59 Temple
  22  Place - Suite 330, Boston, MA  02111-1307, USA.
  23
  24  Further information about the GNU General Public License can also be found on
  25  the world wide web at http://www.gnu.org.
  26
  27 FUNCTIONAL DESCRIPTION
  28 --------------------------------------------------------------------------------
  29
  30 HISTORY
  31 --------------------------------------------------------------------------------
  32 09/13/00   JSB   Created
  33
  34 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  35 INCLUDES
  36 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  37
  38 #include <sstream>
  39 #include <iomanip>
  40
  41 #include "FGGroundReactions.h"
  42 #include "FGPropertyManager.h"
  43
  44 namespace JSBSim {
  45
  46 static const char *IdSrc = "$Id$";
  47 static const char *IdHdr = ID_GROUNDREACTIONS;
  48
  49 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  50 CLASS IMPLEMENTATION
  51 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  52
  53
  54 FGGroundReactions::FGGroundReactions(FGFDMExec* fgex) : FGModel(fgex)
  55 {
  56   Name = "FGGroundReactions";
  57
  58   bind();
  59
  60   Debug(0);
  61 }
  62
  63 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  64
  65 FGGroundReactions::~FGGroundReactions(void)
  66 {
  67   unbind();
  68
  69   Debug(1);
  70 }
  71
  72 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  73
  74 bool FGGroundReactions::Run(void)
  75 {
  76   if (!FGModel::Run()) {
  77     vForces.InitMatrix();
  78     vMoments.InitMatrix();
  79
  80     // Only execute gear force code below 300 feet
  81     if ( Propagate->GetDistanceAGL() < 300.0 ) {
  82       vector <FGLGear>::iterator iGear = lGear.begin();
  83       // Sum forces and moments for all gear, here.
  84       // Some optimizations may be made here - or rather in the gear code itself.
  85       // The gear ::Run() method is called several times - once for each gear.
  86       // Perhaps there is some commonality for things which only need to be
  87       // calculated once.
  88       while (iGear != lGear.end()) {
  89         vForces  += iGear->Force();
  90         vMoments += iGear->Moment();
  91         iGear++;
  92       }
  93
  94     } else {
  95       // Crash Routine
  96     }
  97
  98     return false;
  99   } else {
 100     return true;
 101   }
 102 }
 103
 104 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 105
 106 bool FGGroundReactions::Load(FGConfigFile* AC_cfg)
 107 {
 108   string token;
 109
 110   AC_cfg->GetNextConfigLine();
 111
 112   while ((token = AC_cfg->GetValue()) != string("/UNDERCARRIAGE")) {
 113     int num = lGear.size();
 114     lGear.push_back(FGLGear(AC_cfg, FDMExec, num));
 115     FCS->AddGear();
 116   }
 117
 118   return true;
 119 }
 120
 121 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 122
 123 string FGGroundReactions::GetGroundReactionStrings(string delimeter)
 124 {
 125   std::ostringstream buf;
 126
 127   for (unsigned int i=0;i<lGear.size();i++) {
 128     string name = lGear[i].GetName();
 129     buf << name << "_WOW" << delimeter
 130         << name << "_stroke" << delimeter
 131         << name << "_strokeVel" << delimeter
 132         << name << "_CompressForce" << delimeter
 133         << name << "_WhlSideForce" << delimeter
 134         << name << "_WhlVelVecX" << delimeter
 135         << name << "_WhlVelVecY" << delimeter
 136         << name << "_WhlRollForce" << delimeter
 137         << name << "_BodyXForce" << delimeter
 138         << name << "_BodyYForce" << delimeter
 139         << name << "_WhlSlipDegrees" << delimeter;
 140   }
 141
 142   buf << "TotalGearForce_X" << delimeter
 143       << "TotalGearForce_Y" << delimeter
 144       << "TotalGearForce_Z" << delimeter
 145       << "TotalGearMoment_L" << delimeter
 146       << "TotalGearMoment_M" << delimeter
 147       << "TotalGearMoment_N";
 148
 149   return buf.str();
 150 }
 151
 152 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 153
 154 string FGGroundReactions::GetGroundReactionValues(string delimeter)
 155 {
 156   std::ostringstream buf;
 157
 158   for (unsigned int i=0;i<lGear.size();i++) {
 159     FGLGear& gear = lGear[i];
 160     buf << (gear.GetWOW() ? "1, " : "0, ")
 161         << setprecision(5) << gear.GetCompLen() << delimeter
 162         << setprecision(6) << gear.GetCompVel() << delimeter
 163         << setprecision(10) << gear.GetCompForce() << delimeter
 164         << setprecision(6) << gear.GetWheelVel(eX) << delimeter
 165         << gear.GetWheelVel(eY) << delimeter
 166         << gear.GetWheelSideForce() << delimeter
 167         << gear.GetWheelRollForce() << delimeter
 168         << gear.GetBodyXForce() << delimeter
 169         << gear.GetBodyYForce() << delimeter
 170         << gear.GetWheelSlipAngle() << delimeter;
 171   }
 172
 173   buf << vForces(eX) << delimeter
 174       << vForces(eY) << delimeter
 175       << vForces(eZ) << delimeter
 176       << vMoments(eX) << delimeter
 177       << vMoments(eY) << delimeter
 178       << vMoments(eZ);
 179
 180   return buf.str();
 181 }
 182
 183 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 184
 185 void FGGroundReactions::bind(void)
 186 {
 187   typedef double (FGGroundReactions::*PMF)(int) const;
 188   PropertyManager->Tie("gear/num-units", this,
 189                        &FGGroundReactions::GetNumGearUnits);
 190   PropertyManager->Tie("moments/l-gear-lbsft", this,1,
 191                        (PMF)&FGGroundReactions::GetMoments);
 192   PropertyManager->Tie("moments/m-gear-lbsft", this,2,
 193                        (PMF)&FGGroundReactions::GetMoments);
 194   PropertyManager->Tie("moments/n-gear-lbsft", this,3,
 195                        (PMF)&FGGroundReactions::GetMoments);
 196   PropertyManager->Tie("forces/fbx-gear-lbs", this,1,
 197                        (PMF)&FGGroundReactions::GetForces);
 198   PropertyManager->Tie("forces/fby-gear-lbs", this,2,
 199                        (PMF)&FGGroundReactions::GetForces);
 200   PropertyManager->Tie("forces/fbz-gear-lbs", this,3,
 201                        (PMF)&FGGroundReactions::GetForces);
 202 }
 203
 204 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 205
 206 void FGGroundReactions::unbind(void)
 207 {
 208   PropertyManager->Untie("gear/num-units");
 209   PropertyManager->Untie("moments/l-gear-lbsft");
 210   PropertyManager->Untie("moments/m-gear-lbsft");
 211   PropertyManager->Untie("moments/n-gear-lbsft");
 212   PropertyManager->Untie("forces/fbx-gear-lbs");
 213   PropertyManager->Untie("forces/fby-gear-lbs");
 214   PropertyManager->Untie("forces/fbz-gear-lbs");
 215 }
 216
 217 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 218 //    The bitmasked value choices are as follows:
 219 //    unset: In this case (the default) JSBSim would only print
 220 //       out the normally expected messages, essentially echoing
 221 //       the config files as they are read. If the environment
 222 //       variable is not set, debug_lvl is set to 1 internally
 223 //    0: This requests JSBSim not to output any messages
 224 //       whatsoever.
 225 //    1: This value explicity requests the normal JSBSim
 226 //       startup messages
 227 //    2: This value asks for a message to be printed out when
 228 //       a class is instantiated
 229 //    4: When this value is set, a message is displayed when a
 230 //       FGModel object executes its Run() method
 231 //    8: When this value is set, various runtime state variables
 232 //       are printed out periodically
 233 //    16: When set various parameters are sanity checked and
 234 //       a message is printed out when they go out of bounds
 235
 236 void FGGroundReactions::Debug(int from)
 237 {
 238   if (debug_lvl <= 0) return;
 239
 240   if (debug_lvl & 1) { // Standard console startup message output
 241     if (from == 0) { // Constructor
 242
 243     }
 244   }
 245   if (debug_lvl & 2 ) { // Instantiation/Destruction notification
 246     if (from == 0) cout << "Instantiated: FGGroundReactions" << endl;
 247     if (from == 1) cout << "Destroyed:    FGGroundReactions" << endl;
 248   }
 249   if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
 250   }
 251   if (debug_lvl & 8 ) { // Runtime state variables
 252   }
 253   if (debug_lvl & 16) { // Sanity checking
 254   }
 255   if (debug_lvl & 64) {
 256     if (from == 0) { // Constructor
 257       cout << IdSrc << endl;
 258       cout << IdHdr << endl;
 259     }
 260   }
 261 }
 262 }