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 COMMENTS, REFERENCES,  and NOTES
  32 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  33
  34 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  35 SENTRY
  36 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  37
  38 #ifndef FGGROUNDREACTIONS_H
  39 #define FGGROUNDREACTIONS_H
  40
  41 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  42 INCLUDES
  43 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  44
  45 #ifdef FGFS
  46 #  include <simgear/compiler.h>
  47 #  ifdef SG_HAVE_STD_INCLUDES
  48 #    include <vector>
  49 #  else
  50 #    include <vector.h>
  51 #  endif
  52 #else
  53 #  include <vector>
  54 #endif
  55
  56 #include "FGModel.h"
  57 #include "FGConfigFile.h"
  58 #include "FGLGear.h"
  59 #include "FGInertial.h"
  60 #include "FGMatrix33.h"
  61
  62 #define ID_GROUNDREACTIONS "$Id$"
  63
  64 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  65 CLASS DECLARATION
  66 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  67
  68 namespace JSBSim {
  69
  70 class FGGroundReactions : public FGModel
  71 {
  72 public:
  73   FGGroundReactions(FGFDMExec*);
  74   ~FGGroundReactions(void);
  75
  76   bool Run(void);
  77   bool Load(FGConfigFile* AC_cfg);
  78   FGColumnVector3& GetForces(void) {return vForces;}
  79   double GetForces(int idx) const {return vForces(idx);}
  80   FGColumnVector3& GetMoments(void) {return vMoments;}
  81   double GetMoments(int idx) const {return vMoments(idx);}
  82   string GetGroundReactionStrings(void);
  83   string GetGroundReactionValues(void);
  84
  85   inline int GetNumGearUnits(void) const { return lGear.size(); }
  86   /** Gets a gear instance
  87       @param gear index of gear instance
  88       @return a pointer to the FGLGear instance of the gear unit requested */
  89
  90
  91   inline FGLGear* GetGearUnit(int gear) { return &(lGear[gear]); }
  92
  93   void bind(void);
  94   void unbind(void);
  95
  96 private:
  97   vector <FGLGear> lGear;
  98   FGColumnVector3 vForces;
  99   FGColumnVector3 vMoments;
 100   FGColumnVector3 vMaxStaticGrip;
 101   FGColumnVector3 vMaxMomentResist;
 102
 103   void Debug(int from);
 104 };
 105 }
 106 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 107 #endif
 108