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     string type;
 114     *AC_cfg >> type;
 115     if (type == "AC_GEAR") {
 116       int num = lGear.size();
 117       lGear.push_back(FGLGear(AC_cfg, FDMExec, num));
 118       FCS->AddGear();
 119     } else {
 120       cerr << "Unknown undercarriage type \"" << type << "\"" << endl;
 121     }
 122   }
 123
 124   return true;
 125 }
 126
 127 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 128
 129 string FGGroundReactions::GetGroundReactionStrings(string delimeter)
 130 {
 131   std::ostringstream buf;
 132
 133   for (unsigned int i=0;i<lGear.size();i++) {
 134     string name = lGear[i].GetName();
 135     buf << name << "_WOW" << delimeter
 136         << name << "_stroke" << delimeter
 137         << name << "_strokeVel" << delimeter
 138         << name << "_CompressForce" << delimeter
 139         << name << "_WhlSideForce" << delimeter
 140         << name << "_WhlVelVecX" << delimeter
 141         << name << "_WhlVelVecY" << delimeter
 142         << name << "_WhlRollForce" << delimeter
 143         << name << "_BodyXForce" << delimeter
 144         << name << "_BodyYForce" << delimeter
 145         << name << "_WhlSlipDegrees" << delimeter;
 146   }
 147
 148   buf << "TotalGearForce_X" << delimeter
 149       << "TotalGearForce_Y" << delimeter
 150       << "TotalGearForce_Z" << delimeter
 151       << "TotalGearMoment_L" << delimeter
 152       << "TotalGearMoment_M" << delimeter
 153       << "TotalGearMoment_N";
 154
 155   return buf.str();
 156 }
 157
 158 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 159
 160 string FGGroundReactions::GetGroundReactionValues(string delimeter)
 161 {
 162   std::ostringstream buf;
 163
 164   for (unsigned int i=0;i<lGear.size();i++) {
 165     FGLGear& gear = lGear[i];
 166     buf << (gear.GetWOW() ? "1, " : "0, ")
 167         << setprecision(5) << gear.GetCompLen() << delimeter
 168         << setprecision(6) << gear.GetCompVel() << delimeter
 169         << setprecision(10) << gear.GetCompForce() << delimeter
 170         << setprecision(6) << gear.GetWheelVel(eX) << delimeter
 171         << gear.GetWheelVel(eY) << delimeter
 172         << gear.GetWheelSideForce() << delimeter
 173         << gear.GetWheelRollForce() << delimeter
 174         << gear.GetBodyXForce() << delimeter
 175         << gear.GetBodyYForce() << delimeter
 176         << gear.GetWheelSlipAngle() << delimeter;
 177   }
 178
 179   buf << vForces(eX) << delimeter
 180       << vForces(eY) << delimeter
 181       << vForces(eZ) << delimeter
 182       << vMoments(eX) << delimeter
 183       << vMoments(eY) << delimeter
 184       << vMoments(eZ);
 185
 186   return buf.str();
 187 }
 188
 189 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 190
 191 void FGGroundReactions::bind(void)
 192 {
 193   typedef double (FGGroundReactions::*PMF)(int) const;
 194   PropertyManager->Tie("gear/num-units", this,
 195                        &FGGroundReactions::GetNumGearUnits);
 196   PropertyManager->Tie("moments/l-gear-lbsft", this,1,
 197                        (PMF)&FGGroundReactions::GetMoments);
 198   PropertyManager->Tie("moments/m-gear-lbsft", this,2,
 199                        (PMF)&FGGroundReactions::GetMoments);
 200   PropertyManager->Tie("moments/n-gear-lbsft", this,3,
 201                        (PMF)&FGGroundReactions::GetMoments);
 202   PropertyManager->Tie("forces/fbx-gear-lbs", this,1,
 203                        (PMF)&FGGroundReactions::GetForces);
 204   PropertyManager->Tie("forces/fby-gear-lbs", this,2,
 205                        (PMF)&FGGroundReactions::GetForces);
 206   PropertyManager->Tie("forces/fbz-gear-lbs", this,3,
 207                        (PMF)&FGGroundReactions::GetForces);
 208 }
 209
 210 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 211
 212 void FGGroundReactions::unbind(void)
 213 {
 214   PropertyManager->Untie("gear/num-units");
 215   PropertyManager->Untie("moments/l-gear-lbsft");
 216   PropertyManager->Untie("moments/m-gear-lbsft");
 217   PropertyManager->Untie("moments/n-gear-lbsft");
 218   PropertyManager->Untie("forces/fbx-gear-lbs");
 219   PropertyManager->Untie("forces/fby-gear-lbs");
 220   PropertyManager->Untie("forces/fbz-gear-lbs");
 221 }
 222
 223 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 224 //    The bitmasked value choices are as follows:
 225 //    unset: In this case (the default) JSBSim would only print
 226 //       out the normally expected messages, essentially echoing
 227 //       the config files as they are read. If the environment
 228 //       variable is not set, debug_lvl is set to 1 internally
 229 //    0: This requests JSBSim not to output any messages
 230 //       whatsoever.
 231 //    1: This value explicity requests the normal JSBSim
 232 //       startup messages
 233 //    2: This value asks for a message to be printed out when
 234 //       a class is instantiated
 235 //    4: When this value is set, a message is displayed when a
 236 //       FGModel object executes its Run() method
 237 //    8: When this value is set, various runtime state variables
 238 //       are printed out periodically
 239 //    16: When set various parameters are sanity checked and
 240 //       a message is printed out when they go out of bounds
 241
 242 void FGGroundReactions::Debug(int from)
 243 {
 244   if (debug_lvl <= 0) return;
 245
 246   if (debug_lvl & 1) { // Standard console startup message output
 247     if (from == 0) { // Constructor
 248
 249     }
 250   }
 251   if (debug_lvl & 2 ) { // Instantiation/Destruction notification
 252     if (from == 0) cout << "Instantiated: FGGroundReactions" << endl;
 253     if (from == 1) cout << "Destroyed:    FGGroundReactions" << endl;
 254   }
 255   if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
 256   }
 257   if (debug_lvl & 8 ) { // Runtime state variables
 258   }
 259   if (debug_lvl & 16) { // Sanity checking
 260   }
 261   if (debug_lvl & 64) {
 262     if (from == 0) { // Constructor
 263       cout << IdSrc << endl;
 264       cout << IdHdr << endl;
 265     }
 266   }
 267 }
 268 }