Date started: 09/13/00
Purpose: Encapsulates the ground reaction forces (gear and collision)
- ------------- Copyright (C) 2000 Jon S. Berndt (jsb@hal-pc.org) -------------
+ ------------- Copyright (C) 2000 Jon S. Berndt (jon@jsbsim.org) -------------
This program is free software; you can redistribute it and/or modify it under
the terms of the GNU Lesser General Public License as published by the Free Software
#include <iomanip>
#include "FGGroundReactions.h"
-#include <input_output/FGPropertyManager.h>
+#include "FGFCS.h"
+#include "input_output/FGPropertyManager.h"
+
+using namespace std;
namespace JSBSim {
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGGroundReactions.cpp,v 1.31 2010/11/18 12:38:06 jberndt Exp $";
static const char *IdHdr = ID_GROUNDREACTIONS;
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-CLASS IMPLEMENTATION
+CLASS IMPLEMENTATION for MultiplierIterator (See below for FGGroundReactions)
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+MultiplierIterator::MultiplierIterator(FGGroundReactions* GndReactions)
+: GroundReactions(GndReactions),
+ multiplier(NULL),
+ gearNum(0),
+ entry(0)
+{
+ for (int i=0; i < GroundReactions->GetNumGearUnits(); i++) {
+ FGLGear* gear = GroundReactions->GetGearUnit(i);
+
+ if (!gear->GetWOW()) continue;
+
+ gearNum = i;
+ multiplier = gear->GetMultiplierEntry(0);
+ break;
+ }
+}
+
+MultiplierIterator& MultiplierIterator::operator++()
+{
+ for (int i=gearNum; i < GroundReactions->GetNumGearUnits(); i++) {
+ FGLGear* gear = GroundReactions->GetGearUnit(i);
+
+ if (!gear->GetWOW()) continue;
+
+ multiplier = gear->GetMultiplierEntry(++entry);
+ if (multiplier) {
+ gearNum = i;
+ break;
+ }
+ else
+ entry = -1;
+ }
+
+ return *this;
+}
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+CLASS IMPLEMENTATION
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
FGGroundReactions::FGGroundReactions(FGFDMExec* fgex) : FGModel(fgex)
{
FGGroundReactions::~FGGroundReactions(void)
{
- for (unsigned int i=0; i<lGear.size();i++) lGear[i].unbind();
+ for (unsigned int i=0; i<lGear.size();i++) delete lGear[i];
lGear.clear();
- unbind();
Debug(1);
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+bool FGGroundReactions::InitModel(void)
+{
+ if (!FGModel::InitModel()) return false;
+
+ return true;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
bool FGGroundReactions::Run(void)
{
if (FGModel::Run()) return true;
if (FDMExec->Holding()) return false;
+ RunPreFunctions();
+
vForces.InitMatrix();
vMoments.InitMatrix();
- if ( Propagate->GetDistanceAGL() < 300.0 ) { // Only execute gear code below 300 feet
- 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.
- // The gear ::Run() method is called several times - once for each gear.
- // Perhaps there is some commonality for things which only need to be
- // calculated once.
-
- while (iGear != lGear.end()) {
- vForces += iGear->Force();
- vMoments += iGear->Moment();
- iGear++;
- }
-
+ // Sum forces and moments for all gear, here.
+ // Some optimizations may be made here - or rather in the gear code itself.
+ // The gear ::Run() method is called several times - once for each gear.
+ // Perhaps there is some commonality for things which only need to be
+ // calculated once.
+ for (unsigned int i=0; i<lGear.size(); i++) {
+ vForces += lGear[i]->GetBodyForces();
+ vMoments += lGear[i]->GetMoments();
}
+ RunPostFunctions();
+
return false;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-bool FGGroundReactions::GetWOW(void)
+bool FGGroundReactions::GetWOW(void) const
{
bool result = false;
for (unsigned int i=0; i<lGear.size(); i++) {
- if (lGear[i].IsBogey() && lGear[i].GetWOW()) {
+ if (lGear[i]->IsBogey() && lGear[i]->GetWOW()) {
result = true;
break;
}
return result;
}
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+// This function must be called after friction forces are resolved in order to
+// include them in the ground reactions total force and moment.
+void FGGroundReactions::UpdateForcesAndMoments(void)
+{
+ vForces.InitMatrix();
+ vMoments.InitMatrix();
+
+ for (unsigned int i=0; i<lGear.size(); i++) {
+ vForces += lGear[i]->UpdateForces();
+ vMoments += lGear[i]->GetMoments();
+ }
+}
+
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
bool FGGroundReactions::Load(Element* el)
Element* contact_element = el->FindElement("contact");
while (contact_element) {
- lGear.push_back(FGLGear(contact_element, FDMExec, num++));
- FCS->AddGear(); // make the FCS aware of the landing gear
+ lGear.push_back(new FGLGear(contact_element, FDMExec, num++));
+ FDMExec->GetFCS()->AddGear(); // make the FCS aware of the landing gear
contact_element = el->FindNextElement("contact");
}
+
+ FGModel::Load(el); // Perform base class Load
- for (unsigned int i=0; i<lGear.size();i++) lGear[i].bind();
+ for (unsigned int i=0; i<lGear.size();i++) lGear[i]->bind();
+
+ PostLoad(el, PropertyManager);
return true;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-string FGGroundReactions::GetGroundReactionStrings(string delimeter)
+string FGGroundReactions::GetGroundReactionStrings(string delimeter) const
{
std::ostringstream buf;
for (unsigned int i=0;i<lGear.size();i++) {
- if (lGear[i].IsBogey()) {
- string name = lGear[i].GetName();
+ if (lGear[i]->IsBogey()) {
+ string name = lGear[i]->GetName();
buf << name << " WOW" << delimeter
<< name << " stroke (ft)" << delimeter
<< name << " stroke velocity (ft/sec)" << delimeter
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-string FGGroundReactions::GetGroundReactionValues(string delimeter)
+string FGGroundReactions::GetGroundReactionValues(string delimeter) const
{
std::ostringstream buf;
for (unsigned int i=0;i<lGear.size();i++) {
- if (lGear[i].IsBogey()) {
- FGLGear& gear = lGear[i];
- buf << (gear.GetWOW() ? "1, " : "0, ")
- << setprecision(5) << gear.GetCompLen() << delimeter
- << setprecision(6) << gear.GetCompVel() << delimeter
- << setprecision(10) << gear.GetCompForce() << delimeter
- << gear.GetWheelSideForce() << delimeter
- << gear.GetWheelRollForce() << delimeter
- << gear.GetBodyXForce() << delimeter
- << gear.GetBodyYForce() << delimeter
- << setprecision(6) << gear.GetWheelVel(eX) << delimeter
- << gear.GetWheelVel(eY) << delimeter
- << gear.GetWheelRollVel() << delimeter
- << gear.GetWheelSideVel() << delimeter
- << gear.GetWheelSlipAngle() << delimeter;
+ if (lGear[i]->IsBogey()) {
+ FGLGear *gear = lGear[i];
+ buf << (gear->GetWOW() ? "1" : "0") << delimeter
+ << setprecision(5) << gear->GetCompLen() << delimeter
+ << setprecision(6) << gear->GetCompVel() << delimeter
+ << setprecision(10) << gear->GetCompForce() << delimeter
+ << gear->GetWheelSideForce() << delimeter
+ << gear->GetWheelRollForce() << delimeter
+ << gear->GetBodyXForce() << delimeter
+ << gear->GetBodyYForce() << delimeter
+ << setprecision(6) << gear->GetWheelVel(eX) << delimeter
+ << gear->GetWheelVel(eY) << delimeter
+ << gear->GetWheelRollVel() << delimeter
+ << gear->GetWheelSideVel() << delimeter
+ << gear->GetWheelSlipAngle() << delimeter;
}
}
{
typedef double (FGGroundReactions::*PMF)(int) const;
PropertyManager->Tie("gear/num-units", this, &FGGroundReactions::GetNumGearUnits);
+ PropertyManager->Tie("gear/wow", this, &FGGroundReactions::GetWOW);
PropertyManager->Tie("moments/l-gear-lbsft", this, eL, (PMF)&FGGroundReactions::GetMoments);
PropertyManager->Tie("moments/m-gear-lbsft", this, eM, (PMF)&FGGroundReactions::GetMoments);
PropertyManager->Tie("moments/n-gear-lbsft", this, eN, (PMF)&FGGroundReactions::GetMoments);
PropertyManager->Tie("forces/fbz-gear-lbs", this, eZ, (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");
-}
-
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
// The bitmasked value choices are as follows:
// unset: In this case (the default) JSBSim would only print
projects / flightgear.git / blobdiff