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 #include "input_output/FGXMLElement.h"
  47
  48 #define ID_GROUNDREACTIONS "$Id: FGGroundReactions.h,v 1.19 2010/11/18 12:38:06 jberndt Exp $"
  49
  50 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  51 FORWARD DECLARATIONS
  52 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  53
  54 namespace JSBSim {
  55
  56 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  57 CLASS DOCUMENTATION
  58 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  59
  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>
  65 @code
  66     <ground_reactions>
  67         <contact>
  68            ... {see FGLGear for specifics of this format}
  69         </contact>
  70         ... {more contacts}
  71     </ground_reactions>
  72 @endcode
  73
  74
  75   */
  76
  77 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  78 CLASS DECLARATION
  79 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  80
  81 class MultiplierIterator
  82 {
  83 public:
  84   MultiplierIterator(FGGroundReactions* GndReactions);
  85   MultiplierIterator& operator++();
  86   FGPropagate::LagrangeMultiplier* operator*() { return multiplier; }
  87 private:
  88   FGGroundReactions* GroundReactions;
  89   FGPropagate::LagrangeMultiplier* multiplier;
  90   int gearNum;
  91   int entry;
  92 };
  93
  94 class FGGroundReactions : public FGModel
  95 {
  96 public:
  97   FGGroundReactions(FGFDMExec*);
  98   ~FGGroundReactions(void);
  99
 100   bool InitModel(void);
 101   bool Run(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);
 111
 112   int GetNumGearUnits(void) const { return (int)lGear.size(); }
 113
 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]; }
 118
 119 private:
 120   vector <FGLGear*> lGear;
 121   FGColumnVector3 vForces;
 122   FGColumnVector3 vMoments;
 123
 124   void bind(void);
 125   void Debug(int from);
 126 };
 127 }
 128 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 129 #endif
 130