1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
3 Header: FGGroundReactions.h
7 ------------- Copyright (C) 1999 Jon S. Berndt (jsb@hal-pc.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 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
42 # include <simgear/compiler.h>
43 # ifdef SG_HAVE_STD_INCLUDES
54 #include <math/FGColumnVector3.h>
55 #include <input_output/FGXMLElement.h>
57 #define ID_GROUNDREACTIONS "$Id$"
59 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
61 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
65 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
67 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
69 /** Manages ground reactions modeling. Maintains a list of landing gear and
70 ground contact points, all instances of FGLGear. Sums their forces and
71 moments so that these may be provided to FGPropagate. Parses the
72 \<ground_reactions> section of the aircraft configuration file.
73 <h3>Configuration File Format of \<ground_reactions> Section:</h3>
77 ... {see FGLGear for specifics of this format}
86 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
88 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
90 class FGGroundReactions : public FGModel
93 FGGroundReactions(FGFDMExec*);
94 ~FGGroundReactions(void);
98 bool Load(Element* el);
99 FGColumnVector3& GetForces(void) {return vForces;}
100 double GetForces(int idx) const {return vForces(idx);}
101 FGColumnVector3& GetMoments(void) {return vMoments;}
102 double GetMoments(int idx) const {return vMoments(idx);}
103 string GetGroundReactionStrings(string delimeter);
104 string GetGroundReactionValues(string delimeter);
107 int GetNumGearUnits(void) const { return (int)lGear.size(); }
109 /** Gets a gear instance
110 @param gear index of gear instance
111 @return a pointer to the FGLGear instance of the gear unit requested */
112 inline FGLGear* GetGearUnit(int gear) { return lGear[gear]; }
115 vector <FGLGear*> lGear;
116 FGColumnVector3 vForces;
117 FGColumnVector3 vMoments;
120 void Debug(int from);
123 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%