1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
3 Header: FGGroundReactions.h
7 ------------- Copyright (C) 1999 Jon S. Berndt (jon@jsbsim.org) -------------
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
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
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.
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.
27 --------------------------------------------------------------------------------
30 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
32 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
34 #ifndef FGGROUNDREACTIONS_H
35 #define FGGROUNDREACTIONS_H
37 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
39 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
45 #include "math/FGColumnVector3.h"
46 #include "input_output/FGXMLElement.h"
48 #define ID_GROUNDREACTIONS "$Id: FGGroundReactions.h,v 1.19 2010/11/18 12:38:06 jberndt Exp $"
50 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
52 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
56 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
58 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
60 /** Manages ground reactions modeling. Maintains a list of landing gear and
61 ground contact points, all instances of FGLGear. Sums their forces and
62 moments so that these may be provided to FGPropagate. Parses the
63 \<ground_reactions> section of the aircraft configuration file.
64 <h3>Configuration File Format of \<ground_reactions> Section:</h3>
68 ... {see FGLGear for specifics of this format}
77 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
79 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
81 class MultiplierIterator
84 MultiplierIterator(FGGroundReactions* GndReactions);
85 MultiplierIterator& operator++();
86 FGPropagate::LagrangeMultiplier* operator*() { return multiplier; }
88 FGGroundReactions* GroundReactions;
89 FGPropagate::LagrangeMultiplier* multiplier;
94 class FGGroundReactions : public FGModel
97 FGGroundReactions(FGFDMExec*);
98 ~FGGroundReactions(void);
100 bool InitModel(void);
102 bool Load(Element* el);
103 const FGColumnVector3& GetForces(void) const {return vForces;}
104 double GetForces(int idx) const {return vForces(idx);}
105 const FGColumnVector3& GetMoments(void) const {return vMoments;}
106 double GetMoments(int idx) const {return vMoments(idx);}
107 string GetGroundReactionStrings(string delimeter) const;
108 string GetGroundReactionValues(string delimeter) const;
109 bool GetWOW(void) const;
110 void UpdateForcesAndMoments(void);
112 int GetNumGearUnits(void) const { return (int)lGear.size(); }
114 /** Gets a gear instance
115 @param gear index of gear instance
116 @return a pointer to the FGLGear instance of the gear unit requested */
117 FGLGear* GetGearUnit(int gear) const { return lGear[gear]; }
120 vector <FGLGear*> lGear;
121 FGColumnVector3 vForces;
122 FGColumnVector3 vMoments;
125 void Debug(int from);
128 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%