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 "$Id$"
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 FGGroundReactions : public FGModel
84 FGGroundReactions(FGFDMExec*);
85 ~FGGroundReactions(void);
89 bool Load(Element* el);
90 FGColumnVector3& GetForces(void) {return vForces;}
91 double GetForces(int idx) const {return vForces(idx);}
92 FGColumnVector3& GetMoments(void) {return vMoments;}
93 double GetMoments(int idx) const {return vMoments(idx);}
94 string GetGroundReactionStrings(string delimeter);
95 string GetGroundReactionValues(string delimeter);
98 int GetNumGearUnits(void) const { return (int)lGear.size(); }
100 /** Gets a gear instance
101 @param gear index of gear instance
102 @return a pointer to the FGLGear instance of the gear unit requested */
103 inline FGLGear* GetGearUnit(int gear) { return lGear[gear]; }
106 vector <FGLGear*> lGear;
107 FGColumnVector3 vForces;
108 FGColumnVector3 vMoments;
111 void Debug(int from);
114 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%