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 1.20 2011/05/20 03:18:36 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);
101 /** Runs the Ground Reactions model; called by the Executive
102 Can pass in a value indicating if the executive is directing the simulation to Hold.
103 @param Holding if true, the executive has been directed to hold the sim from
104 advancing time. Some models may ignore this flag, such as the Input
105 model, which may need to be active to listen on a socket for the
106 "Resume" command to be given.
107 @return false if no error */
108 bool Run(bool Holding);
109 bool Load(Element* el);
110 const FGColumnVector3& GetForces(void) const {return vForces;}
111 double GetForces(int idx) const {return vForces(idx);}
112 const FGColumnVector3& GetMoments(void) const {return vMoments;}
113 double GetMoments(int idx) const {return vMoments(idx);}
114 string GetGroundReactionStrings(string delimeter) const;
115 string GetGroundReactionValues(string delimeter) const;
116 bool GetWOW(void) const;
117 void UpdateForcesAndMoments(void);
119 int GetNumGearUnits(void) const { return (int)lGear.size(); }
121 /** Gets a gear instance
122 @param gear index of gear instance
123 @return a pointer to the FGLGear instance of the gear unit requested */
124 FGLGear* GetGearUnit(int gear) const { return lGear[gear]; }
127 vector <FGLGear*> lGear;
128 FGColumnVector3 vForces;
129 FGColumnVector3 vMoments;
132 void Debug(int from);
135 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%