src/FDM/JSBSim/FGGroundReactions.h

   1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
   2
   3  Header:       FGGroundReactions.h
   4  Author:       Jon S. Berndt
   5  Date started: 09/13/00
   6
   7  ------------- Copyright (C) 1999  Jon S. Berndt (jsb@hal-pc.org) -------------
   8
   9  This program is free software; you can redistribute it and/or modify it under
  10  the terms of the GNU General Public License as published by the Free Software
  11  Foundation; either version 2 of the License, or (at your option) any later
  12  version.
  13
  14  This program is distributed in the hope that it will be useful, but WITHOUT
  15  ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
  16  FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
  17  details.
  18
  19  You should have received a copy of the GNU General Public License along with
  20  this program; if not, write to the Free Software Foundation, Inc., 59 Temple
  21  Place - Suite 330, Boston, MA  02111-1307, USA.
  22
  23  Further information about the GNU General Public License can also be found on
  24  the world wide web at http://www.gnu.org.
  25
  26 HISTORY
  27 --------------------------------------------------------------------------------
  28 09/13/00   JSB   Created
  29
  30 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  31 SENTRY
  32 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  33
  34 #ifndef FGGROUNDREACTIONS_H
  35 #define FGGROUNDREACTIONS_H
  36
  37 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  38 INCLUDES
  39 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  40
  41 #ifdef FGFS
  42 #  include <simgear/compiler.h>
  43 #  ifdef SG_HAVE_STD_INCLUDES
  44 #    include <vector>
  45 #  else
  46 #    include <vector.h>
  47 #  endif
  48 #else
  49 #  include <vector>
  50 #endif
  51
  52 #include "FGModel.h"
  53 #include "FGConfigFile.h"
  54 #include "FGLGear.h"
  55 #include "FGInertial.h"
  56 #include "FGMatrix33.h"
  57
  58 #define ID_GROUNDREACTIONS "$Id$"
  59
  60 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  61 FORWARD DECLARATIONS
  62 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  63
  64 namespace JSBSim {
  65
  66 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  67 CLASS DOCUMENTATION
  68 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  69
  70 /** Manages ground reactions modeling.
  71   */
  72
  73 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  74 CLASS DECLARATION
  75 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  76
  77 class FGGroundReactions : public FGModel
  78 {
  79 public:
  80   FGGroundReactions(FGFDMExec*);
  81   ~FGGroundReactions(void);
  82
  83   bool Run(void);
  84   bool Load(FGConfigFile* AC_cfg);
  85   FGColumnVector3& GetForces(void) {return vForces;}
  86   double GetForces(int idx) const {return vForces(idx);}
  87   FGColumnVector3& GetMoments(void) {return vMoments;}
  88   double GetMoments(int idx) const {return vMoments(idx);}
  89   string GetGroundReactionStrings(void);
  90   string GetGroundReactionValues(void);
  91
  92   inline int GetNumGearUnits(void) const { return lGear.size(); }
  93
  94   /** Gets a gear instance
  95       @param gear index of gear instance
  96       @return a pointer to the FGLGear instance of the gear unit requested */
  97   inline FGLGear* GetGearUnit(int gear) { return &(lGear[gear]); }
  98
  99   void bind(void);
 100   void unbind(void);
 101
 102 private:
 103   vector <FGLGear> lGear;
 104   FGColumnVector3 vForces;
 105   FGColumnVector3 vMoments;
 106   FGColumnVector3 vMaxStaticGrip;
 107   FGColumnVector3 vMaxMomentResist;
 108
 109   void Debug(int from);
 110 };
 111 }
 112 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 113 #endif
 114