1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
3 Header: FGGroundReactions.h
7 ------------- Copyright (C) 1999 Jon S. Berndt (jsb@hal-pc.org) -------------
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
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
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.
23 Further information about the GNU General Public License can also be found on
24 the world wide web at http://www.gnu.org.
27 --------------------------------------------------------------------------------
30 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
32 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
34 #ifndef FGGROUNDREACTIONS_H
35 #define FGGROUNDREACTIONS_H
37 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
39 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
42 # include <simgear/compiler.h>
43 # ifdef SG_HAVE_STD_INCLUDES
53 #include "FGConfigFile.h"
55 #include "FGInertial.h"
56 #include "FGMatrix33.h"
58 #define ID_GROUNDREACTIONS "$Id$"
60 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
62 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
66 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
68 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
70 /** Manages ground reactions modeling.
73 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
75 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
77 class FGGroundReactions : public FGModel
80 FGGroundReactions(FGFDMExec*);
81 ~FGGroundReactions(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);
92 inline int GetNumGearUnits(void) const { return lGear.size(); }
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]); }
103 vector <FGLGear> lGear;
104 FGColumnVector3 vForces;
105 FGColumnVector3 vMoments;
106 FGColumnVector3 vMaxStaticGrip;
107 FGColumnVector3 vMaxMomentResist;
109 void Debug(int from);
112 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%