Merge branch 'next' of gitorious.org:fg/flightgear into next

[flightgear.git] / src / FDM / JSBSim / models / FGGroundReactions.h

diff --git a/src/FDM/JSBSim/models/FGGroundReactions.h b/src/FDM/JSBSim/models/FGGroundReactions.h
index a10ff0bb13563ee3ee203c6d5ffe230f7bb0fe1d..5774918ad3a005927f2442fac911f09069d10440 100644 (file)
--- a/src/FDM/JSBSim/models/FGGroundReactions.h
+++ b/src/FDM/JSBSim/models/FGGroundReactions.h
@@ -45,7 +45,7 @@ INCLUDES
 #include "math/FGColumnVector3.h"
 #include "input_output/FGXMLElement.h"
 
-#define ID_GROUNDREACTIONS "$Id: FGGroundReactions.h,v 1.18 2010/09/07 00:40:03 jberndt Exp $"
+#define ID_GROUNDREACTIONS "$Id: FGGroundReactions.h,v 1.24 2011/08/21 15:13:22 bcoconni Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -78,19 +78,6 @@ CLASS DOCUMENTATION
 CLASS DECLARATION
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-class MultiplierIterator
-{
-public:
-  MultiplierIterator(FGGroundReactions* GndReactions);
-  MultiplierIterator& operator++();
-  FGPropagate::LagrangeMultiplier* operator*() { return multiplier; }
-private:
-  FGGroundReactions* GroundReactions;
-  FGPropagate::LagrangeMultiplier* multiplier;
-  int gearNum;
-  int entry;
-};
-
 class FGGroundReactions : public FGModel
 {
 public:
@@ -98,28 +85,40 @@ public:
   ~FGGroundReactions(void);
 
   bool InitModel(void);
-  bool Run(void);
+  /** Runs the Ground Reactions model; called by the Executive
+      Can pass in a value indicating if the executive is directing the simulation to Hold.
+      @param Holding if true, the executive has been directed to hold the sim from 
+                     advancing time. Some models may ignore this flag, such as the Input
+                     model, which may need to be active to listen on a socket for the
+                     "Resume" command to be given.
+      @return false if no error */
+  bool Run(bool Holding);
   bool Load(Element* el);
-  FGColumnVector3& GetForces(void) {return vForces;}
+  const FGColumnVector3& GetForces(void) const {return vForces;}
   double GetForces(int idx) const {return vForces(idx);}
-  FGColumnVector3& GetMoments(void) {return vMoments;}
+  const FGColumnVector3& GetMoments(void) const {return vMoments;}
   double GetMoments(int idx) const {return vMoments(idx);}
-  string GetGroundReactionStrings(string delimeter);
-  string GetGroundReactionValues(string delimeter);
+  string GetGroundReactionStrings(string delimeter) const;
+  string GetGroundReactionValues(string delimeter) const;
   bool GetWOW(void) const;
-  void UpdateForcesAndMoments(void);
 
   int GetNumGearUnits(void) const { return (int)lGear.size(); }
 
   /** Gets a gear instance
       @param gear index of gear instance
       @return a pointer to the FGLGear instance of the gear unit requested */
-  inline FGLGear* GetGearUnit(int gear) { return lGear[gear]; }
+  FGLGear* GetGearUnit(int gear) const { return lGear[gear]; }
+
+  void RegisterLagrangeMultiplier(LagrangeMultiplier* lmult) { multipliers.push_back(lmult); }
+  vector <LagrangeMultiplier*>* GetMultipliersList(void) { return &multipliers; }
+
+  FGLGear::Inputs in;
 
 private:
   vector <FGLGear*> lGear;
   FGColumnVector3 vForces;
   FGColumnVector3 vMoments;
+  vector <LagrangeMultiplier*> multipliers;
 
   void bind(void);
   void Debug(int from);