X-Git-Url: https://git.mxchange.org/?a=blobdiff_plain;f=src%2FFDM%2FJSBSim%2Fmodels%2FFGGroundReactions.h;h=5774918ad3a005927f2442fac911f09069d10440;hb=024ef128e3395e8c0e32b360abe19b4d345e4f80;hp=71d39e0e939b0d2f5ed7da1f3b4fbee43403191d;hpb=3ec74d79c23347add2afa088b05ad29af975f65f;p=flightgear.git

diff --git a/src/FDM/JSBSim/models/FGGroundReactions.h b/src/FDM/JSBSim/models/FGGroundReactions.h
index 71d39e0e9..5774918ad 100644
--- a/src/FDM/JSBSim/models/FGGroundReactions.h
+++ b/src/FDM/JSBSim/models/FGGroundReactions.h
@@ -4,7 +4,7 @@
  Author:       Jon S. Berndt
  Date started: 09/13/00
 
- ------------- 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 Lesser General Public License as published by the Free Software
@@ -38,23 +38,14 @@ SENTRY
 INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#ifdef FGFS
-#  include <simgear/compiler.h>
-#  ifdef SG_HAVE_STD_INCLUDES
-#    include <vector>
-#  else
-#    include <vector.h>
-#  endif
-#else
-#  include <vector>
-#endif
+#include <vector>
 
 #include "FGModel.h"
 #include "FGLGear.h"
-#include <math/FGColumnVector3.h>
-#include <input_output/FGXMLElement.h>
+#include "math/FGColumnVector3.h"
+#include "input_output/FGXMLElement.h"
 
-#define ID_GROUNDREACTIONS "$Id$"
+#define ID_GROUNDREACTIONS "$Id: FGGroundReactions.h,v 1.24 2011/08/21 15:13:22 bcoconni Exp $"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -66,7 +57,21 @@ namespace JSBSim {
 CLASS DOCUMENTATION
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-/** Manages ground reactions modeling.
+/** Manages ground reactions modeling. Maintains a list of landing gear and
+    ground contact points, all instances of FGLGear.  Sums their forces and
+    moments so that these may be provided to FGPropagate.  Parses the 
+    \<ground_reactions> section of the aircraft configuration file.
+ <h3>Configuration File Format of \<ground_reactions> Section:</h3>
+@code
+    <ground_reactions>
+        <contact>
+           ... {see FGLGear for specifics of this format}
+        </contact>
+        ... {more contacts}
+    </ground_reactions>
+@endcode   
+
+
   */
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -79,31 +84,43 @@ public:
   FGGroundReactions(FGFDMExec*);
   ~FGGroundReactions(void);
 
-  bool Run(void);
+  bool InitModel(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);
-  bool GetWOW(void);
+  string GetGroundReactionStrings(string delimeter) const;
+  string GetGroundReactionValues(string delimeter) const;
+  bool GetWOW(void) const;
 
-  int GetNumGearUnits(void) const { return lGear.size(); }
+  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 bind(void);
-  void unbind(void);
+  void RegisterLagrangeMultiplier(LagrangeMultiplier* lmult) { multipliers.push_back(lmult); }
+  vector <LagrangeMultiplier*>* GetMultipliersList(void) { return &multipliers; }
+
+  FGLGear::Inputs in;
 
 private:
-  vector <FGLGear> lGear;
+  vector <FGLGear*> lGear;
   FGColumnVector3 vForces;
   FGColumnVector3 vMoments;
+  vector <LagrangeMultiplier*> multipliers;
 
+  void bind(void);
   void Debug(int from);
 };
 }