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 1.24 2011/08/21 15:13:22 bcoconni 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 FGGroundReactions : public FGModel
  82 {
  83 public:
  84   FGGroundReactions(FGFDMExec*);
  85   ~FGGroundReactions(void);
  86
  87   bool InitModel(void);
  88   /** Runs the Ground Reactions model; called by the Executive
  89       Can pass in a value indicating if the executive is directing the simulation to Hold.
  90       @param Holding if true, the executive has been directed to hold the sim from
  91                      advancing time. Some models may ignore this flag, such as the Input
  92                      model, which may need to be active to listen on a socket for the
  93                      "Resume" command to be given.
  94       @return false if no error */
  95   bool Run(bool Holding);
  96   bool Load(Element* el);
  97   const FGColumnVector3& GetForces(void) const {return vForces;}
  98   double GetForces(int idx) const {return vForces(idx);}
  99   const FGColumnVector3& GetMoments(void) const {return vMoments;}
 100   double GetMoments(int idx) const {return vMoments(idx);}
 101   string GetGroundReactionStrings(string delimeter) const;
 102   string GetGroundReactionValues(string delimeter) const;
 103   bool GetWOW(void) const;
 104
 105   int GetNumGearUnits(void) const { return (int)lGear.size(); }
 106
 107   /** Gets a gear instance
 108       @param gear index of gear instance
 109       @return a pointer to the FGLGear instance of the gear unit requested */
 110   FGLGear* GetGearUnit(int gear) const { return lGear[gear]; }
 111
 112   void RegisterLagrangeMultiplier(LagrangeMultiplier* lmult) { multipliers.push_back(lmult); }
 113   vector <LagrangeMultiplier*>* GetMultipliersList(void) { return &multipliers; }
 114
 115   FGLGear::Inputs in;
 116
 117 private:
 118   vector <FGLGear*> lGear;
 119   FGColumnVector3 vForces;
 120   FGColumnVector3 vMoments;
 121   vector <LagrangeMultiplier*> multipliers;
 122
 123   void bind(void);
 124   void Debug(int from);
 125 };
 126 }
 127 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 128 #endif
 129