INCLUDES
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+#include <sstream>
+#include <iomanip>
+
#include "FGGroundReactions.h"
+#include "FGPropertyManager.h"
+
+namespace JSBSim {
static const char *IdSrc = "$Id$";
static const char *IdHdr = ID_GROUNDREACTIONS;
{
Name = "FGGroundReactions";
+ bind();
+
Debug(0);
}
FGGroundReactions::~FGGroundReactions(void)
{
+ unbind();
+
Debug(1);
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
bool FGGroundReactions::Run(void)
{
- double steerAngle = 0.0;
- double xForces = 0.0, yForces = 0.0;
-
if (!FGModel::Run()) {
vForces.InitMatrix();
vMoments.InitMatrix();
// Only execute gear force code below 300 feet
- if ( Position->GetDistanceAGL() < 300.0 ) {
+ if ( Propagate->GetDistanceAGL() < 300.0 ) {
vector <FGLGear>::iterator iGear = lGear.begin();
// Sum forces and moments for all gear, here.
// Some optimizations may be made here - or rather in the gear code itself.
iGear++;
}
- // Only execute this code when the aircraft ground speed is very, very small.
- /*
- if (fabs(Translation->GetUVW(eX)) < 0.1 &&
- fabs(Translation->GetUVW(eZ)) < 0.1)
- {
- // Initialize the comparison matrices.
- vMaxStaticGrip.InitMatrix();
- vMaxMomentResist.InitMatrix();
- iGear = lGear.begin();
- // For each gear that is touching the ground (which had better be all of them!)
- // calculate the X and Y direction maximum "gripping" power. Also, keep track
- // of the number of gear that have weight on wheels. This is probably unnecessary.
- while (iGear != lGear.end()) {
- // calculate maximum gripping power for each gear here based on brake
- // and steering settings
- // also calculate total number of wheels with WOW set true?
- if (iGear->GetWOW()) {
- steerAngle = iGear->GetSteerAngle();
- vMaxStaticGrip(eX) += (iGear->GetBrakeFCoeff()*cos(steerAngle) -
- iGear->GetstaticFCoeff()*sin(steerAngle))*iGear->GetCompForce();
- vMaxStaticGrip(eY) += iGear->GetBrakeFCoeff()*sin(steerAngle) +
- iGear->GetstaticFCoeff()*cos(steerAngle)*iGear->GetCompForce();
- vMaxStaticGrip(eZ) = 0.0;
-// vMaxMomentResist += 1;
- }
- iGear++;
- }
-
- // Calculate the X and Y direction non-gear forces to counteract if needed.
- xForces = -1.0 * ( Aerodynamics->GetForces(eX)
- + Propulsion->GetForces(eX)
- + Inertial->GetForces(eX));
-
- yForces = -1.0 * ( Aerodynamics->GetForces(eY)
- + Propulsion->GetForces(eY)
- + Inertial->GetForces(eY));
-
- // These if statement comparisons probably need some validation and work
- if (fabs(xForces) < fabs(vMaxStaticGrip(eX))) { // forces exceed gear power
- vForces(eX) = xForces;
- }
-
- if (fabs(yForces) < fabs(vMaxStaticGrip(eY))) { // forces exceed gear power
- vForces(eY) = yForces;
- }
-
- vMoments(eZ) = -(Aerodynamics->GetMoments(eZ) + Propulsion->GetMoments(eZ));
- }
- */
} else {
// Crash Routine
}
AC_cfg->GetNextConfigLine();
while ((token = AC_cfg->GetValue()) != string("/UNDERCARRIAGE")) {
- lGear.push_back(FGLGear(AC_cfg, FDMExec));
+ string type;
+ *AC_cfg >> type;
+ if (type == "AC_GEAR") {
+ int num = lGear.size();
+ lGear.push_back(FGLGear(AC_cfg, FDMExec, num));
+ FCS->AddGear();
+ } else {
+ cerr << "Unknown undercarriage type \"" << type << "\"" << endl;
+ }
}
return true;
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-string FGGroundReactions::GetGroundReactionStrings(void)
+string FGGroundReactions::GetGroundReactionStrings(string delimeter)
{
- string GroundReactionStrings = "";
- bool firstime = true;
+ std::ostringstream buf;
for (unsigned int i=0;i<lGear.size();i++) {
- if (!firstime) GroundReactionStrings += ", ";
- GroundReactionStrings += (lGear[i].GetName() + "_WOW, ");
- GroundReactionStrings += (lGear[i].GetName() + "_compressLength, ");
- GroundReactionStrings += (lGear[i].GetName() + "_compressSpeed, ");
- GroundReactionStrings += (lGear[i].GetName() + "_Force");
-
- firstime = false;
+ string name = lGear[i].GetName();
+ buf << name << "_WOW" << delimeter
+ << name << "_stroke" << delimeter
+ << name << "_strokeVel" << delimeter
+ << name << "_CompressForce" << delimeter
+ << name << "_WhlSideForce" << delimeter
+ << name << "_WhlVelVecX" << delimeter
+ << name << "_WhlVelVecY" << delimeter
+ << name << "_WhlRollForce" << delimeter
+ << name << "_BodyXForce" << delimeter
+ << name << "_BodyYForce" << delimeter
+ << name << "_WhlSlipDegrees" << delimeter;
}
- return GroundReactionStrings;
+ buf << "TotalGearForce_X" << delimeter
+ << "TotalGearForce_Y" << delimeter
+ << "TotalGearForce_Z" << delimeter
+ << "TotalGearMoment_L" << delimeter
+ << "TotalGearMoment_M" << delimeter
+ << "TotalGearMoment_N";
+
+ return buf.str();
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-string FGGroundReactions::GetGroundReactionValues(void)
+string FGGroundReactions::GetGroundReactionValues(string delimeter)
{
- char buff[20];
- string GroundReactionValues = "";
-
- bool firstime = true;
+ std::ostringstream buf;
for (unsigned int i=0;i<lGear.size();i++) {
- if (!firstime) GroundReactionValues += ", ";
- GroundReactionValues += string( lGear[i].GetWOW()?"1":"0" ) + ", ";
- GroundReactionValues += (string(gcvt(lGear[i].GetCompLen(), 5, buff)) + ", ");
- GroundReactionValues += (string(gcvt(lGear[i].GetCompVel(), 6, buff)) + ", ");
- GroundReactionValues += (string(gcvt(lGear[i].GetCompForce(), 10, buff)));
-
- firstime = false;
+ FGLGear& gear = lGear[i];
+ buf << (gear.GetWOW() ? "1, " : "0, ")
+ << setprecision(5) << gear.GetCompLen() << delimeter
+ << setprecision(6) << gear.GetCompVel() << delimeter
+ << setprecision(10) << gear.GetCompForce() << delimeter
+ << setprecision(6) << gear.GetWheelVel(eX) << delimeter
+ << gear.GetWheelVel(eY) << delimeter
+ << gear.GetWheelSideForce() << delimeter
+ << gear.GetWheelRollForce() << delimeter
+ << gear.GetBodyXForce() << delimeter
+ << gear.GetBodyYForce() << delimeter
+ << gear.GetWheelSlipAngle() << delimeter;
}
- return GroundReactionValues;
+ buf << vForces(eX) << delimeter
+ << vForces(eY) << delimeter
+ << vForces(eZ) << delimeter
+ << vMoments(eX) << delimeter
+ << vMoments(eY) << delimeter
+ << vMoments(eZ);
+
+ return buf.str();
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGGroundReactions::bind(void)
+{
+ typedef double (FGGroundReactions::*PMF)(int) const;
+ PropertyManager->Tie("gear/num-units", this,
+ &FGGroundReactions::GetNumGearUnits);
+ PropertyManager->Tie("moments/l-gear-lbsft", this,1,
+ (PMF)&FGGroundReactions::GetMoments);
+ PropertyManager->Tie("moments/m-gear-lbsft", this,2,
+ (PMF)&FGGroundReactions::GetMoments);
+ PropertyManager->Tie("moments/n-gear-lbsft", this,3,
+ (PMF)&FGGroundReactions::GetMoments);
+ PropertyManager->Tie("forces/fbx-gear-lbs", this,1,
+ (PMF)&FGGroundReactions::GetForces);
+ PropertyManager->Tie("forces/fby-gear-lbs", this,2,
+ (PMF)&FGGroundReactions::GetForces);
+ PropertyManager->Tie("forces/fbz-gear-lbs", this,3,
+ (PMF)&FGGroundReactions::GetForces);
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGGroundReactions::unbind(void)
+{
+ PropertyManager->Untie("gear/num-units");
+ PropertyManager->Untie("moments/l-gear-lbsft");
+ PropertyManager->Untie("moments/m-gear-lbsft");
+ PropertyManager->Untie("moments/n-gear-lbsft");
+ PropertyManager->Untie("forces/fbx-gear-lbs");
+ PropertyManager->Untie("forces/fby-gear-lbs");
+ PropertyManager->Untie("forces/fbz-gear-lbs");
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
}
if (debug_lvl & 16) { // Sanity checking
}
+ if (debug_lvl & 64) {
+ if (from == 0) { // Constructor
+ cout << IdSrc << endl;
+ cout << IdHdr << endl;
+ }
+ }
+}
}
-
projects / flightgear.git / blobdiff