Author: Jon S. Berndt
Date started: 11/18/99
- ------------- Copyright (C) 1999 Jon S. Berndt (jsb@hal-pc.org) -------------
+ ------------- Copyright (C) 1999 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 General Public License as published by the Free Software
+ the terms of the GNU Lesser General Public License as published by the Free Software
Foundation; either version 2 of the License, or (at your option) any later
version.
This program is distributed in the hope that it will be useful, but WITHOUT
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
- FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
+ FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
details.
- You should have received a copy of the GNU General Public License along with
+ You should have received a copy of the GNU Lesser General Public License along with
this program; if not, write to the Free Software Foundation, Inc., 59 Temple
Place - Suite 330, Boston, MA 02111-1307, USA.
- Further information about the GNU General Public License can also be found on
+ Further information about the GNU Lesser General Public License can also be found on
the world wide web at http://www.gnu.org.
HISTORY
INCLUDES
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-#ifdef FGFS
-# include <simgear/compiler.h>
-#endif
-
-#include <FGJSBBase.h>
-#include <FGFDMExec.h>
-#include <input_output/FGXMLElement.h>
-#include <math/FGColumnVector3.h>
-#include <math/FGTable.h>
+#include "models/propulsion/FGForce.h"
+#include "models/FGPropagate.h"
+#include "math/FGColumnVector3.h"
#include <string>
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
DEFINITIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-#define ID_LGEAR "$Id$"
+#define ID_LGEAR "$Id: FGLGear.h,v 1.41 2010/09/22 11:33:40 jberndt Exp $"
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FORWARD DECLARATIONS
class FGAircraft;
class FGPropagate;
class FGFCS;
-class FGState;
class FGMassBalance;
class FGAuxiliary;
+class FGTable;
+class Element;
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DOCUMENTATION
are the parameters that can be specified in the config file for modeling
landing gear:
<p>
- <b><u>Physical Characteristics</u></b><br>
+ <h3>Physical Characteristics</h3>
<ol>
<li>X, Y, Z location, in inches in structural coordinate frame</li>
<li>Spring constant, in lbs/ft</li>
<li>Dynamic Friction Coefficient</li>
<li>Static Friction Coefficient</li>
</ol></p><p>
- <b><u>Operational Properties</b></u><br>
+ <h3>Operational Properties</h3>
<ol>
<li>Name</li>
- <li>Steerability attribute {one of STEERABLE | FIXED | CASTERED}</li>
<li>Brake Group Membership {one of LEFT | CENTER | RIGHT | NOSE | TAIL | NONE}</li>
<li>Max Steer Angle, in degrees</li>
</ol></p>
<p>
- <b><u>Algorithm and Approach to Modeling</u></b><br>
+ <h3>Algorithm and Approach to Modeling</h3>
<ol>
<li>Find the location of the uncompressed landing gear relative to the CG of
the aircraft. Remember, the structural coordinate frame that the aircraft is
(radius to wheel crossed into the wheel force). Both of these operands are
in body frame.</li>
</ol>
+
+ <h3>Configuration File Format:</h3>
+@code
+ <contact type="{BOGEY | STRUCTURE}" name="{string}">
+ <location unit="{IN | M}">
+ <x> {number} </x>
+ <y> {number} </y>
+ <z> {number} </z>
+ </location>
+ <orientation unit="{RAD | DEG}">
+ <pitch> {number} </pitch>
+ <roll> {number} </roll>
+ <yaw> {number} </yaw>
+ </orientation>
+ <static_friction> {number} </static_friction>
+ <dynamic_friction> {number} </dynamic_friction>
+ <rolling_friction> {number} </rolling_friction>
+ <spring_coeff unit="{LBS/FT | N/M}"> {number} </spring_coeff>
+ <damping_coeff [type="SQUARE"] unit="{LBS/FT/SEC | N/M/SEC}"> {number} </damping_coeff>
+ <damping_coeff_rebound [type="SQUARE"] unit="{LBS/FT/SEC | N/M/SEC}"> {number} </damping_coeff_rebound>
+ <max_steer unit="DEG"> {number | 0 | 360} </max_steer>
+ <brake_group> {NONE | LEFT | RIGHT | CENTER | NOSE | TAIL} </brake_group>
+ <retractable>{0 | 1}</retractable>
+ <table type="{CORNERING_COEFF}">
+ </table>
+ </contact>
+@endcode
@author Jon S. Berndt
- @version $Id$
+ @version $Id: FGLGear.h,v 1.41 2010/09/22 11:33:40 jberndt Exp $
@see Richard E. McFarland, "A Standard Kinematic Model for Flight Simulation at
NASA-Ames", NASA CR-2497, January 1975
@see Barnes W. McCormick, "Aerodynamics, Aeronautics, and Flight Mechanics",
CLASS DECLARATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-class FGLGear : public FGJSBBase
+class FGLGear : public FGForce
{
public:
/// Brake grouping enumerators
enum BrakeGroup {bgNone=0, bgLeft, bgRight, bgCenter, bgNose, bgTail };
/// Steering group membership enumerators
enum SteerType {stSteer, stFixed, stCaster};
+ /// Contact point type
+ enum ContactType {ctBOGEY, ctSTRUCTURE};
/// Report type enumerators
enum ReportType {erNone=0, erTakeoff, erLand};
+ /// Damping types
+ enum DampType {dtLinear=0, dtSquare};
+ /// Friction types
+ enum FrictionType {ftRoll=0, ftSide, ftDynamic};
/** Constructor
@param el a pointer to the XML element that contains the CONTACT info.
@param Executive a pointer to the parent executive object
- @param File a pointer to the config file instance */
+ @param number integer identifier for this instance of FGLGear
+ */
FGLGear(Element* el, FGFDMExec* Executive, int number);
- /** Constructor
- @param lgear a reference to an existing FGLGear object */
- FGLGear(const FGLGear& lgear);
/// Destructor
~FGLGear();
-
/// The Force vector for this gear
- FGColumnVector3& Force(void);
- /// The Moment vector for this gear
- FGColumnVector3& Moment(void) {return vMoment;}
+ FGColumnVector3& GetBodyForces(void);
/// Gets the location of the gear in Body axes
FGColumnVector3& GetBodyLocation(void) { return vWhlBodyVec; }
- double GetBodyLocation(int idx) { return vWhlBodyVec(idx); }
+ double GetBodyLocation(int idx) const { return vWhlBodyVec(idx); }
FGColumnVector3& GetLocalGear(void) { return vLocalGear; }
- double GetLocalGear(int idx) { return vLocalGear(idx); }
+ double GetLocalGear(int idx) const { return vLocalGear(idx); }
/// Gets the name of the gear
- inline string GetName(void) {return name; }
+ string GetName(void) const {return name; }
/// Gets the Weight On Wheels flag value
- inline bool GetWOW(void) {return WOW; }
+ bool GetWOW(void) const {return WOW; }
/// Gets the current compressed length of the gear in feet
- inline double GetCompLen(void) {return compressLength;}
+ double GetCompLen(void) const {return compressLength;}
/// Gets the current gear compression velocity in ft/sec
- inline double GetCompVel(void) {return compressSpeed; }
+ double GetCompVel(void) const {return compressSpeed; }
/// Gets the gear compression force in pounds
- inline double GetCompForce(void) {return Force()(3); }
- inline double GetBrakeFCoeff(void) {return BrakeFCoeff;}
+ double GetCompForce(void) const {return StrutForce; }
+ double GetBrakeFCoeff(void) const {return BrakeFCoeff;}
/// Gets the current normalized tire pressure
- inline double GetTirePressure(void) { return TirePressureNorm; }
+ double GetTirePressure(void) const { return TirePressureNorm; }
/// Sets the new normalized tire pressure
- inline void SetTirePressure(double p) { TirePressureNorm = p; }
+ void SetTirePressure(double p) { TirePressureNorm = p; }
/// Sets the brake value in percent (0 - 100)
- inline void SetBrake(double bp) {brakePct = bp;}
+ void SetBrake(double bp) {brakePct = bp;}
+
+ /// Sets the weight-on-wheels flag.
+ void SetWOW(bool wow) {WOW = wow;}
/** Set the console touchdown reporting feature
@param flag true turns on touchdown reporting, false turns it off */
- inline void SetReport(bool flag) { ReportEnable = flag; }
+ void SetReport(bool flag) { ReportEnable = flag; }
/** Get the console touchdown reporting feature
@return true if reporting is turned on */
- inline bool GetReport(void) { return ReportEnable; }
- double GetSteerNorm(void) const { return radtodeg/maxSteerAngle*SteerAngle; }
+ bool GetReport(void) const { return ReportEnable; }
+ double GetSteerNorm(void) const { return radtodeg/maxSteerAngle*SteerAngle; }
double GetDefaultSteerAngle(double cmd) const { return cmd*maxSteerAngle; }
- double GetstaticFCoeff(void) { return staticFCoeff; }
-
- inline int GetBrakeGroup(void) { return (int)eBrakeGrp; }
- inline int GetSteerType(void) { return (int)eSteerType; }
-
- bool GetSteerable(void) const { return eSteerType != stFixed; }
- inline bool GetRetractable(void) { return isRetractable; }
- inline bool GetGearUnitUp(void) { return GearUp; }
- inline bool GetGearUnitDown(void) { return GearDown; }
- inline double GetWheelSideForce(void) { return SideForce; }
- inline double GetWheelRollForce(void) { return RollingForce; }
- inline double GetBodyXForce(void) { return vLocalForce(eX); }
- inline double GetBodyYForce(void) { return vLocalForce(eY); }
- inline double GetWheelSlipAngle(void) { return WheelSlip; }
- double GetWheelVel(int axis) { return vWhlVelVec(axis);}
-
- bool IsBogey(void) {return (sContactType == string("BOGEY"));}
+ double GetstaticFCoeff(void) const { return staticFCoeff; }
+
+ int GetBrakeGroup(void) const { return (int)eBrakeGrp; }
+ int GetSteerType(void) const { return (int)eSteerType; }
+
+ bool GetSteerable(void) const { return eSteerType != stFixed; }
+ bool GetRetractable(void) const { return isRetractable; }
+ bool GetGearUnitUp(void) const { return GearUp; }
+ bool GetGearUnitDown(void) const { return GearDown; }
+ double GetWheelRollForce(void) {
+ FGColumnVector3 vForce = mTGear.Transposed() * FGForce::GetBodyForces();
+ return vForce(eX)*cos(SteerAngle) + vForce(eY)*sin(SteerAngle); }
+ double GetWheelSideForce(void) {
+ FGColumnVector3 vForce = mTGear.Transposed() * FGForce::GetBodyForces();
+ return vForce(eY)*cos(SteerAngle) - vForce(eX)*sin(SteerAngle); }
+ double GetWheelRollVel(void) const { return vWhlVelVec(eX)*cos(SteerAngle)
+ + vWhlVelVec(eY)*sin(SteerAngle); }
+ double GetWheelSideVel(void) const { return vWhlVelVec(eY)*cos(SteerAngle)
+ - vWhlVelVec(eX)*sin(SteerAngle); }
+ double GetWheelSlipAngle(void) const { return WheelSlip; }
+ double GetWheelVel(int axis) const { return vWhlVelVec(axis);}
+ bool IsBogey(void) const { return (eContactType == ctBOGEY);}
+ double GetGearUnitPos(void);
+ double GetSteerAngleDeg(void) const { return radtodeg*SteerAngle; }
+ FGPropagate::LagrangeMultiplier* GetMultiplierEntry(int entry);
+ void SetLagrangeMultiplier(double lambda, int entry);
+ FGColumnVector3& UpdateForces(void);
void bind(void);
- void unbind(void);
private:
int GearNumber;
- FGColumnVector3 vXYZ;
- FGColumnVector3 vMoment;
+ static const FGMatrix33 Tb2s;
+ FGMatrix33 mTGear;
+ FGColumnVector3 vGearOrient;
FGColumnVector3 vWhlBodyVec;
FGColumnVector3 vLocalGear;
- FGColumnVector3 vForce;
- FGColumnVector3 last_vForce; // remove this
- FGColumnVector3 vLocalForce;
- FGColumnVector3 vWhlVelVec; // Velocity of this wheel (Local)
- FGColumnVector3 In;
- FGColumnVector3 prevIn;
- FGColumnVector3 prevOut;
+ FGColumnVector3 vWhlVelVec, vLocalWhlVel; // Velocity of this wheel
+ FGColumnVector3 normal, cvel, vGroundNormal;
+ FGLocation contact, gearLoc;
FGTable *ForceY_Table;
+ double dT;
double SteerAngle;
double kSpring;
double bDamp;
double compressLength;
double compressSpeed;
double staticFCoeff, dynamicFCoeff, rollingFCoeff;
+ double Stiffness, Shape, Peak, Curvature; // Pacejka factors
double brakePct;
double BrakeFCoeff;
double maxCompLen;
double TakeoffDistanceTraveled;
double TakeoffDistanceTraveled50ft;
double LandingDistanceTraveled;
- double MaximumStrutForce;
+ double MaximumStrutForce, StrutForce;
double MaximumStrutTravel;
- double SideWhlVel, RollingWhlVel;
- double RollingForce, SideForce, FCoeff;
+ double FCoeff;
double WheelSlip;
- double last_WheelSlip;
- double slipIn;
- double last_SlipIn;
double TirePressureNorm;
- double SinWheel, CosWheel;
+ double GearPos;
+ bool useFCSGearPos;
bool WOW;
bool lastWOW;
bool FirstContact;
bool isRetractable;
bool GearUp, GearDown;
bool Servicable;
- string name;
- string sSteerType;
- string sBrakeGroup;
- string sRetractable;
- string sContactType;
-
- BrakeGroup eBrakeGrp;
- SteerType eSteerType;
+ bool Castered;
+ bool StaticFriction;
+ std::string name;
+ std::string sSteerType;
+ std::string sBrakeGroup;
+ std::string sRetractable;
+ std::string sContactType;
+
+ BrakeGroup eBrakeGrp;
+ ContactType eContactType;
+ SteerType eSteerType;
+ DampType eDampType;
+ DampType eDampTypeRebound;
double maxSteerAngle;
- FGFDMExec* Exec;
- FGState* State;
- FGAircraft* Aircraft;
- FGPropagate* Propagate;
- FGAuxiliary* Auxiliary;
- FGFCS* FCS;
- FGMassBalance* MassBalance;
+ FGPropagate::LagrangeMultiplier LMultiplier[3];
+
+ FGAuxiliary* Auxiliary;
+ FGPropagate* Propagate;
+ FGFCS* FCS;
+ FGMassBalance* MassBalance;
+ FGGroundReactions* GroundReactions;
void ComputeRetractionState(void);
void ComputeBrakeForceCoefficient(void);
void ComputeSlipAngle(void);
void ComputeSideForceCoefficient(void);
void ComputeVerticalStrutForce(void);
+ void ComputeGroundCoordSys(void);
+ void ComputeJacobian(const FGColumnVector3& vWhlContactVec);
void CrashDetect(void);
void InitializeReporting(void);
void ResetReporting(void);
void Debug(int from);
};
}
-#include "FGAircraft.h"
-#include "FGPropagate.h"
-#include "FGAuxiliary.h"
-#include "FGFCS.h"
-#include "FGMassBalance.h"
-#include "FGState.h"
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
projects / flightgear.git / blobdiff