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 1.20 2011/05/20 03:18:36 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   /** 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);
 118
 119   int GetNumGearUnits(void) const { return (int)lGear.size(); }
 120
 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]; }
 125
 126 private:
 127   vector <FGLGear*> lGear;
 128   FGColumnVector3 vForces;
 129   FGColumnVector3 vMoments;
 130
 131   void bind(void);
 132   void Debug(int from);
 133 };
 134 }
 135 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 136 #endif
 137