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 (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 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 #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 "FGLGear.h"
  54 #include <math/FGColumnVector3.h>
  55 #include <input_output/FGXMLElement.h>
  56
  57 #define ID_GROUNDREACTIONS "$Id$"
  58
  59 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  60 FORWARD DECLARATIONS
  61 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  62
  63 namespace JSBSim {
  64
  65 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  66 CLASS DOCUMENTATION
  67 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  68
  69 /** Manages ground reactions modeling. Maintains a list of landing gear and
  70     ground contact points, all instances of FGLGear.  Sums their forces and
  71     moments so that these may be provided to FGPropagate.  Parses the
  72     \<ground_reactions> section of the aircraft configuration file.
  73  <h3>Configuration File Format of \<ground_reactions> Section:</h3>
  74 @code
  75     <ground_reactions>
  76         <contact>
  77            ... {see FGLGear for specifics of this format}
  78         </contact>
  79         ... {more contacts}
  80     </ground_reactions>
  81 @endcode
  82
  83
  84   */
  85
  86 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  87 CLASS DECLARATION
  88 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  89
  90 class FGGroundReactions : public FGModel
  91 {
  92 public:
  93   FGGroundReactions(FGFDMExec*);
  94   ~FGGroundReactions(void);
  95
  96   bool InitModel(void);
  97   bool Run(void);
  98   bool Load(Element* el);
  99   FGColumnVector3& GetForces(void) {return vForces;}
 100   double GetForces(int idx) const {return vForces(idx);}
 101   FGColumnVector3& GetMoments(void) {return vMoments;}
 102   double GetMoments(int idx) const {return vMoments(idx);}
 103   string GetGroundReactionStrings(string delimeter);
 104   string GetGroundReactionValues(string delimeter);
 105   bool GetWOW(void);
 106
 107   int GetNumGearUnits(void) const { return (int)lGear.size(); }
 108
 109   /** Gets a gear instance
 110       @param gear index of gear instance
 111       @return a pointer to the FGLGear instance of the gear unit requested */
 112   inline FGLGear* GetGearUnit(int gear) { return lGear[gear]; }
 113
 114 private:
 115   vector <FGLGear*> lGear;
 116   FGColumnVector3 vForces;
 117   FGColumnVector3 vMoments;
 118
 119   void bind(void);
 120   void Debug(int from);
 121 };
 122 }
 123 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 124 #endif
 125