src/FDM/JSBSim/models/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 (jon@jsbsim.org) -------------
   8
   9  This program is free software; you can redistribute it and/or modify it under
  10  the terms of the GNU Lesser 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 Lesser General Public License for more
  17  details.
  18
  19  You should have received a copy of the GNU Lesser 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 Lesser 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 #include <vector>
  42
  43 #include "FGModel.h"
  44 #include "FGLGear.h"
  45 #include "math/FGColumnVector3.h"
  46
  47 #define ID_GROUNDREACTIONS "$Id: FGGroundReactions.h,v 1.27 2013/11/24 11:40:56 bcoconni Exp $"
  48
  49 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  50 FORWARD DECLARATIONS
  51 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  52
  53 namespace JSBSim {
  54
  55 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  56 CLASS DOCUMENTATION
  57 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  58
  59 /** Manages ground reactions modeling. Maintains a list of landing gear and
  60     ground contact points, all instances of FGLGear.  Sums their forces and
  61     moments so that these may be provided to FGPropagate.  Parses the
  62     \<ground_reactions> section of the aircraft configuration file.
  63  <h3>Configuration File Format of \<ground_reactions> Section:</h3>
  64 @code
  65     <ground_reactions>
  66         <contact>
  67            ... {see FGLGear for specifics of this format}
  68         </contact>
  69         ... {more contacts}
  70     </ground_reactions>
  71 @endcode
  72
  73
  74   */
  75
  76 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  77 CLASS DECLARATION
  78 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  79
  80 class FGGroundReactions : public FGModel
  81 {
  82 public:
  83   FGGroundReactions(FGFDMExec*);
  84   ~FGGroundReactions(void);
  85
  86   bool InitModel(void);
  87   /** Runs the Ground Reactions model; called by the Executive
  88       Can pass in a value indicating if the executive is directing the simulation to Hold.
  89       @param Holding if true, the executive has been directed to hold the sim from
  90                      advancing time. Some models may ignore this flag, such as the Input
  91                      model, which may need to be active to listen on a socket for the
  92                      "Resume" command to be given.
  93       @return false if no error */
  94   bool Run(bool Holding);
  95   bool Load(Element* el);
  96   const FGColumnVector3& GetForces(void) const {return vForces;}
  97   double GetForces(int idx) const {return vForces(idx);}
  98   const FGColumnVector3& GetMoments(void) const {return vMoments;}
  99   double GetMoments(int idx) const {return vMoments(idx);}
 100   std::string GetGroundReactionStrings(std::string delimeter) const;
 101   std::string GetGroundReactionValues(std::string delimeter) const;
 102   bool GetWOW(void) const;
 103
 104   int GetNumGearUnits(void) const { return (int)lGear.size(); }
 105
 106   /** Gets a gear instance
 107       @param gear index of gear instance
 108       @return a pointer to the FGLGear instance of the gear unit requested */
 109   FGLGear* GetGearUnit(int gear) const { return lGear[gear]; }
 110
 111   void RegisterLagrangeMultiplier(LagrangeMultiplier* lmult) { multipliers.push_back(lmult); }
 112   std::vector <LagrangeMultiplier*>* GetMultipliersList(void) { return &multipliers; }
 113
 114   FGLGear::Inputs in;
 115
 116 private:
 117   std::vector <FGLGear*> lGear;
 118   FGColumnVector3 vForces;
 119   FGColumnVector3 vMoments;
 120   std::vector <LagrangeMultiplier*> multipliers;
 121
 122   void bind(void);
 123   void Debug(int from);
 124 };
 125 }
 126 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 127 #endif
 128