/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
Header: FGFDMExec.h
Author: Jon Berndt
Date started: 11/17/98
file The header file for the JSBSim executive.
------------- 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
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 Lesser General Public License for more
details.
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 Lesser General Public License can also be found on
the world wide web at http://www.gnu.org.
HISTORY
--------------------------------------------------------------------------------
11/17/98 JSB Created
7/31/99 TP Added RunIC function that runs the sim so that every frame
begins with the IC values from the given FGInitialCondition
object and dt=0.
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
SENTRY
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#ifndef FGFDMEXEC_HEADER_H
#define FGFDMEXEC_HEADER_H
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
INCLUDES
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#include <vector>
#include <string>
#include "FGJSBBase.h"
#include "input_output/FGPropertyManager.h"
#include "models/FGPropagate.h"
#include "math/FGColumnVector3.h"
#include "models/FGOutput.h"
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
DEFINITIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#define ID_FDMEXEC "$Id: FGFDMExec.h,v 1.104 2015/12/13 07:54:48 bcoconni Exp $"
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FORWARD DECLARATIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
namespace JSBSim {
class FGScript;
class FGTrim;
class FGAerodynamics;
class FGAircraft;
class FGAtmosphere;
class FGAccelerations;
class FGWinds;
class FGAuxiliary;
class FGBuoyantForces;
class FGExternalReactions;
class FGGroundReactions;
class FGFCS;
class FGInertial;
class FGInput;
class FGPropulsion;
class FGMassBalance;
class FGTrim;
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DOCUMENTATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
/** Encapsulates the JSBSim simulation executive.
This class is the executive class through which all other simulation classes
are instantiated, initialized, and run. When integrated with FlightGear (or
other flight simulator) this class is typically instantiated by an interface
class on the simulator side.
At the time of simulation initialization, the interface
class creates an instance of this executive class. The
executive is subsequently directed to load the chosen aircraft specification
file:
@code
fdmex = new FGFDMExec( ... );
result = fdmex->LoadModel( ... );
@endcode
When an aircraft model is loaded, the config file is parsed and for each of the
sections of the config file (propulsion, flight control, etc.) the
corresponding Load() method is called (e.g. FGFCS::Load()).
Subsequent to the creation of the executive and loading of the model,
initialization is performed. Initialization involves copying control inputs
into the appropriate JSBSim data storage locations, configuring it for the set
of user supplied initial conditions, and then copying state variables from
JSBSim. The state variables are used to drive the instrument displays and to
place the vehicle model in world space for visual rendering:
@code
copy_to_JSBsim(); // copy control inputs to JSBSim
fdmex->RunIC(); // loop JSBSim once w/o integrating
copy_from_JSBsim(); // update the bus
@endcode
Once initialization is complete, cyclic execution proceeds:
@code
copy_to_JSBsim(); // copy control inputs to JSBSim
fdmex->Run(); // execute JSBSim
copy_from_JSBsim(); // update the bus
@endcode
JSBSim can be used in a standalone mode by creating a compact stub program
that effectively performs the same progression of steps as outlined above for
the integrated version, but with two exceptions. First, the copy_to_JSBSim()
and copy_from_JSBSim() functions are not used because the control inputs are
handled directly by the scripting facilities and outputs are handled by the
output (data logging) class. Second, the name of a script file can be supplied
to the stub program. Scripting (see FGScript) provides a way to supply command
inputs to the simulation:
@code
FDMExec = new JSBSim::FGFDMExec();
FDMExec->LoadScript( ScriptName ); // the script loads the aircraft and ICs
result = FDMExec->Run();
while (result) { // cyclic execution
result = FDMExec->Run(); // execute JSBSim
}
@endcode
The standalone mode has been useful for verifying changes before committing
updates to the source code repository. It is also useful for running sets of
tests that reveal some aspects of simulated aircraft performance, such as
range, time-to-climb, takeoff distance, etc.
<h3>JSBSim Debugging Directives</h3>
This describes to any interested entity the debug level
requested by setting the JSBSIM_DEBUG environment variable.
The bitmasked value choices are as follows:
- <b>unset</b>: In this case (the default) JSBSim would only print
out the normally expected messages, essentially echoing
the config files as they are read. If the environment
variable is not set, debug_lvl is set to 1 internally
- <b>0</b>: This requests JSBSim not to output any messages
whatsoever
- <b>1</b>: This value explicity requests the normal JSBSim
startup messages
- <b>2</b>: This value asks for a message to be printed out when
a class is instantiated
- <b>4</b>: When this value is set, a message is displayed when a
FGModel object executes its Run() method
- <b>8</b>: When this value is set, various runtime state variables
are printed out periodically
- <b>16</b>: When set various parameters are sanity checked and
a message is printed out when they go out of bounds
<h3>Properties</h3>
@property simulator/do_trim (write only) Can be set to the integer equivalent to one of
tLongitudinal (0), tFull (1), tGround (2), tPullup (3),
tCustom (4), tTurn (5). Setting this to a legal value
(such as by a script) causes a trim to be performed. This
property actually maps toa function call of DoTrim().
@author Jon S. Berndt
@version $Revision: 1.104 $
*/
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DECLARATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
class FGFDMExec : public FGJSBBase
{
struct childData {
FGFDMExec* exec;
std::string info;
FGColumnVector3 Loc;
FGColumnVector3 Orient;
bool mated;
bool internal;
childData(void) {
info = "";
Loc = FGColumnVector3(0,0,0);
Orient = FGColumnVector3(0,0,0);
mated = true;
internal = false;
}
void Run(void) {exec->Run();}
void AssignState(FGPropagate* source_prop) {
exec->GetPropagate()->SetVState(source_prop->GetVState());
}
~childData(void) {
delete exec;
}
};
public:
/// Default constructor
FGFDMExec(FGPropertyManager* root = 0, unsigned int* fdmctr = 0);
/// Default destructor
~FGFDMExec();
// This list of enums is very important! The order in which models are listed
// here determines the order of execution of the models.
//
// There are some conditions that need to be met :
// 1. FCS can request mass geometry changes via the inertia/pointmass-*
// properties so it must be executed before MassBalance
// 2. MassBalance must be executed before Propulsion, Aerodynamics,
// GroundReactions, ExternalReactions and BuoyantForces to ensure that
// their moments are computed with the updated CG position.
enum eModels { ePropagate=0,
eInput,
eInertial,
eAtmosphere,
eWinds,
eSystems,
eMassBalance,
eAuxiliary,
ePropulsion,
eAerodynamics,
eGroundReactions,
eExternalReactions,
eBuoyantForces,
eAircraft,
eAccelerations,
eOutput,
eNumStandardModels };
/** Unbind all tied JSBSim properties. */
void Unbind(void) {instance->Unbind();}
/** This function executes each scheduled model in succession.
@return true if successful, false if sim should be ended */
bool Run(void);
/** Initializes the sim from the initial condition object and executes
each scheduled model without integrating i.e. dt=0.
@return true if successful */
bool RunIC(void);
/** Sets the ground callback pointer. For optimal memory management, a shared
pointer is used internally that maintains a reference counter. The calling
application must therefore use FGGroundCallback_ptr 'smart pointers' to
manage their copy of the ground callback.
@param gc A pointer to a ground callback object
@see FGGroundCallback
*/
void SetGroundCallback(FGGroundCallback* gc) { FGLocation::SetGroundCallback(gc); }
/** Loads an aircraft model.
@param AircraftPath path to the aircraft/ directory. For instance:
"aircraft". Under aircraft, then, would be directories for various
modeled aircraft such as C172/, x15/, etc.
@param EnginePath path to the directory under which engine config
files are kept, for instance "engine"
@param SystemsPath path to the directory under which systems config
files are kept, for instance "systems"
@param model the name of the aircraft model itself. This file will
be looked for in the directory specified in the AircraftPath variable,
and in turn under the directory with the same name as the model. For
instance: "aircraft/x15/x15.xml"
@param addModelToPath set to true to add the model name to the
AircraftPath, defaults to true
@return true if successful */
bool LoadModel(const std::string& AircraftPath, const std::string& EnginePath,
const std::string& SystemsPath, const std::string& model,
bool addModelToPath = true);
/** Loads an aircraft model. The paths to the aircraft and engine
config file directories must be set prior to calling this. See
below.
@param model the name of the aircraft model itself. This file will
be looked for in the directory specified in the AircraftPath variable,
and in turn under the directory with the same name as the model. For
instance: "aircraft/x15/x15.xml"
@param addModelToPath set to true to add the model name to the
AircraftPath, defaults to true
@return true if successful*/
bool LoadModel(const std::string& model, bool addModelToPath = true);
/** Loads a script
@param Script The full path name and file name for the script to be loaded.
@param deltaT The simulation integration step size, if given. If no value is supplied
then 0.0 is used and the value is expected to be supplied in
the script file itself.
@param initfile The initialization file that will override the initialization file
specified in the script file. If no file name is given on the command line,
the file specified in the script will be used. If an initialization file
is not given in either place, an error will result.
@return true if successfully loads; false otherwise. */
bool LoadScript(const std::string& Script, double deltaT=0.0,
const std::string& initfile="");
/** Sets the path to the engine config file directories.
@param path path to the directory under which engine config
files are kept, for instance "engine" */
bool SetEnginePath(const std::string& path) { EnginePath = RootDir + path; return true; }
/** Sets the path to the aircraft config file directories.
@param path path to the aircraft directory. For instance:
"aircraft". Under aircraft, then, would be directories for various
modeled aircraft such as C172/, x15/, etc. */
bool SetAircraftPath(const std::string& path) { AircraftPath = RootDir + path; return true; }
/** Sets the path to the systems config file directories.
@param path path to the directory under which systems config
files are kept, for instance "systems" */
bool SetSystemsPath(const std::string& path) { SystemsPath = RootDir + path; return true; }
/// @name Top-level executive State and Model retrieval mechanism
///@{
/// Returns the FGAtmosphere pointer.
FGAtmosphere* GetAtmosphere(void) {return (FGAtmosphere*)Models[eAtmosphere];}
/// Returns the FGAccelerations pointer.
FGAccelerations* GetAccelerations(void) {return (FGAccelerations*)Models[eAccelerations];}
/// Returns the FGWinds pointer.
FGWinds* GetWinds(void) {return (FGWinds*)Models[eWinds];}
/// Returns the FGFCS pointer.
FGFCS* GetFCS(void) {return (FGFCS*)Models[eSystems];}
/// Returns the FGPropulsion pointer.
FGPropulsion* GetPropulsion(void) {return (FGPropulsion*)Models[ePropulsion];}
/// Returns the FGAircraft pointer.
FGMassBalance* GetMassBalance(void) {return (FGMassBalance*)Models[eMassBalance];}
/// Returns the FGAerodynamics pointer
FGAerodynamics* GetAerodynamics(void){return (FGAerodynamics*)Models[eAerodynamics];}
/// Returns the FGInertial pointer.
FGInertial* GetInertial(void) {return (FGInertial*)Models[eInertial];}
/// Returns the FGGroundReactions pointer.
FGGroundReactions* GetGroundReactions(void) {return (FGGroundReactions*)Models[eGroundReactions];}
/// Returns the FGExternalReactions pointer.
FGExternalReactions* GetExternalReactions(void) {return (FGExternalReactions*)Models[eExternalReactions];}
/// Returns the FGBuoyantForces pointer.
FGBuoyantForces* GetBuoyantForces(void) {return (FGBuoyantForces*)Models[eBuoyantForces];}
/// Returns the FGAircraft pointer.
FGAircraft* GetAircraft(void) {return (FGAircraft*)Models[eAircraft];}
/// Returns the FGPropagate pointer.
FGPropagate* GetPropagate(void) {return (FGPropagate*)Models[ePropagate];}
/// Returns the FGAuxiliary pointer.
FGAuxiliary* GetAuxiliary(void) {return (FGAuxiliary*)Models[eAuxiliary];}
/// Returns the FGInput pointer.
FGInput* GetInput(void) {return (FGInput*)Models[eInput];}
/// Returns the FGOutput pointer.
FGOutput* GetOutput(void) {return (FGOutput*)Models[eOutput];}
/** Get a pointer to the ground callback currently used. It is recommanded
to store the returned pointer in a 'smart pointer' FGGroundCallback_ptr.
@return A pointer to the current ground callback object.
@see FGGroundCallback
*/
FGGroundCallback* GetGroundCallback(void) {return FGLocation::GetGroundCallback();}
/// Retrieves the script object
FGScript* GetScript(void) {return Script;}
/// Returns a pointer to the FGInitialCondition object
FGInitialCondition* GetIC(void) {return IC;}
/// Returns a pointer to the FGTrim object
FGTrim* GetTrim(void);
///@}
/// Retrieves the engine path.
const std::string& GetEnginePath(void) {return EnginePath;}
/// Retrieves the aircraft path.
const std::string& GetAircraftPath(void) {return AircraftPath;}
/// Retrieves the systems path.
const std::string& GetSystemsPath(void) {return SystemsPath;}
/// Retrieves the full aircraft path name.
const std::string& GetFullAircraftPath(void) {return FullAircraftPath;}
/** Retrieves the value of a property.
@param property the name of the property
@result the value of the specified property */
inline double GetPropertyValue(const std::string& property)
{ return instance->GetNode()->GetDouble(property); }
/** Sets a property value.
@param property the property to be set
@param value the value to set the property to */
inline void SetPropertyValue(const std::string& property, double value) {
instance->GetNode()->SetDouble(property, value);
}
/// Returns the model name.
const std::string& GetModelName(void) const { return modelName; }
/// Returns a pointer to the property manager object.
FGPropertyManager* GetPropertyManager(void);
/// Returns a vector of strings representing the names of all loaded models (future)
std::vector <std::string> EnumerateFDMs(void);
/// Gets the number of child FDMs.
int GetFDMCount(void) const {return (int)ChildFDMList.size();}
/// Gets a particular child FDM.
childData* GetChildFDM(int i) const {return ChildFDMList[i];}
/// Marks this instance of the Exec object as a "child" object.
void SetChild(bool ch) {IsChild = ch;}
/** Sets the output (logging) mechanism for this run.
Calling this function passes the name of an output directives file to
the FGOutput object associated with this run. The call to this function
should be made prior to loading an aircraft model. This call results in an
FGOutput object being built as the first Output object in the FDMExec-managed
list of Output objects that may be created for an aircraft model. If this call
is made after an aircraft model is loaded, there is no effect. Any Output
objects added by the aircraft model itself (in an <output> element) will be
added after this one. Care should be taken not to refer to the same file
name.
An output directives file contains an <output> </output> element, within
which should be specified the parameters or parameter groups that should
be logged.
@param fname the filename of an output directives file.
*/
bool SetOutputDirectives(const std::string& fname)
{return Output->SetDirectivesFile(RootDir + fname);}
/** Forces the specified output object to print its items once */
void ForceOutput(int idx=0) { Output->ForceOutput(idx); }
/** Sets the logging rate in Hz for all output objects (if any). */
void SetLoggingRate(double rate) { Output->SetRateHz(rate); }
/** Sets (or overrides) the output filename
@param n index of file
@param fname the name of the file to output data to
@return true if successful, false if there is no output specified for the flight model */
bool SetOutputFileName(const int n, const std::string& fname) { return Output->SetOutputName(n, fname); }
/** Retrieves the current output filename.
@param n index of file
@return the name of the output file for the output specified by the flight model.
If none is specified, the empty string is returned. */
std::string GetOutputFileName(int n) const { return Output->GetOutputName(n); }
/** Executes trimming in the selected mode.
* @param mode Specifies how to trim:
* - tLongitudinal=0
* - tFull
* - tGround
* - tPullup
* - tCustom
* - tTurn
* - tNone */
void DoTrim(int mode);
/// Disables data logging to all outputs.
void DisableOutput(void) { Output->Disable(); }
/// Enables data logging to all outputs.
void EnableOutput(void) { Output->Enable(); }
/// Pauses execution by preventing time from incrementing.
void Hold(void) {holding = true;}
/// Turn on hold after increment
void EnableIncrementThenHold(int Timesteps) {TimeStepsUntilHold = Timesteps; IncrementThenHolding = true;}
/// Checks if required to hold afer increment
void CheckIncrementalHold(void);
/// Resumes execution from a "Hold".
void Resume(void) {holding = false;}
/// Returns true if the simulation is Holding (i.e. simulation time is not moving).
bool Holding(void) {return holding;}
/** Resets the initial conditions object and prepares the simulation to run
again. If mode is set to 1 the output instances will take special actions
such as closing the current output file and open a new one with a
different name.
@param mode Sets the reset mode.*/
void ResetToInitialConditions(int mode);
/// Sets the debug level.
void SetDebugLevel(int level) {debug_lvl = level;}
struct PropertyCatalogStructure {
/// Name of the property.
std::string base_string;
/// The node for the property.
FGPropertyNode_ptr node;
};
/** Builds a catalog of properties.
* This function descends the property tree and creates a list (an STL vector)
* containing the name and node for all properties.
* @param pcs The "root" property catalog structure pointer. */
void BuildPropertyCatalog(struct PropertyCatalogStructure* pcs);
/** Retrieves property or properties matching the supplied string.
* A string is returned that contains a carriage return delimited list of all
* strings in the property catalog that matches the supplied check string.
* @param check The string to search for in the property catalog.
* @return the carriage-return-delimited string containing all matching strings
* in the catalog. */
std::string QueryPropertyCatalog(const std::string& check);
// Print the contents of the property catalog for the loaded aircraft.
void PrintPropertyCatalog(void);
// Print the simulation configuration
void PrintSimulationConfiguration(void) const;
std::vector<std::string>& GetPropertyCatalog(void) {return PropertyCatalog;}
void SetTrimStatus(bool status){ trim_status = status; }
bool GetTrimStatus(void) const { return trim_status; }
void SetTrimMode(int mode){ ta_mode = mode; }
int GetTrimMode(void) const { return ta_mode; }
std::string GetPropulsionTankReport();
/// Returns the cumulative simulation time in seconds.
double GetSimTime(void) const { return sim_time; }
/// Returns the simulation delta T.
double GetDeltaT(void) const {return dT;}
/// Suspends the simulation and sets the delta T to zero.
void SuspendIntegration(void) {saved_dT = dT; dT = 0.0;}
/// Resumes the simulation by resetting delta T to the correct value.
void ResumeIntegration(void) {dT = saved_dT;}
/** Returns the simulation suspension state.
@return true if suspended, false if executing */
bool IntegrationSuspended(void) const {return dT == 0.0;}
/** Sets the current sim time.
@param cur_time the current time
@return the current simulation time. */
double Setsim_time(double cur_time) {
sim_time = cur_time;
GetGroundCallback()->SetTime(sim_time);
return sim_time;
}
/** Sets the integration time step for the simulation executive.
@param delta_t the time step in seconds. */
void Setdt(double delta_t) { dT = delta_t; }
/** Sets the root directory where JSBSim starts looking for its system directories.
@param rootDir the string containing the root directory. */
void SetRootDir(const std::string& rootDir) {RootDir = rootDir;}
/** Retrieves the Root Directory.
@return the string representing the root (base) JSBSim directory. */
const std::string& GetRootDir(void) const {return RootDir;}
/** Increments the simulation time if not in Holding mode. The Frame counter
is also incremented.
@return the new simulation time. */
double IncrTime(void) {
if (!holding && !IntegrationSuspended()) {
sim_time += dT;
GetGroundCallback()->SetTime(sim_time);
Frame++;
}
return sim_time;
}
/** Retrieves the current frame count. */
unsigned int GetFrame(void) const {return Frame;}
/** Retrieves the current debug level setting. */
int GetDebugLevel(void) const {return debug_lvl;};
/** Initializes the simulation with initial conditions
@param FGIC The initial conditions that will be passed to the simulation. */
void Initialize(FGInitialCondition *FGIC);
private:
int Error;
unsigned int Frame;
unsigned int IdFDM;
int disperse;
unsigned short Terminate;
double dT;
double saved_dT;
double sim_time;
bool holding;
bool IncrementThenHolding;
int TimeStepsUntilHold;
int RandomSeed;
bool Constructing;
bool modelLoaded;
bool IsChild;
std::string modelName;
std::string AircraftPath;
std::string FullAircraftPath;
std::string EnginePath;
std::string SystemsPath;
std::string CFGVersion;
std::string Release;
std::string RootDir;
// Standard Model pointers - shortcuts for internal executive use only.
FGPropagate* Propagate;
FGInertial* Inertial;
FGAtmosphere* Atmosphere;
FGWinds* Winds;
FGAuxiliary* Auxiliary;
FGFCS* FCS;
FGPropulsion* Propulsion;
FGAerodynamics* Aerodynamics;
FGGroundReactions* GroundReactions;
FGExternalReactions* ExternalReactions;
FGBuoyantForces* BuoyantForces;
FGMassBalance* MassBalance;
FGAircraft* Aircraft;
FGAccelerations* Accelerations;
FGOutput* Output;
bool trim_status;
int ta_mode;
unsigned int ResetMode;
int trim_completed;
FGScript* Script;
FGInitialCondition* IC;
FGTrim* Trim;
FGPropertyManager* Root;
bool StandAlone;
FGPropertyManager* instance;
// The FDM counter is used to give each child FDM an unique ID. The root FDM has the ID 0
unsigned int* FDMctr;
std::vector <std::string> PropertyCatalog;
std::vector <childData*> ChildFDMList;
std::vector <FGModel*> Models;
bool ReadFileHeader(Element*);
bool ReadChild(Element*);
bool ReadPrologue(Element*);
void SRand(int sr);
int SRand(void) const {return RandomSeed;}
void LoadInputs(unsigned int idx);
void LoadPlanetConstants(void);
void LoadModelConstants(void);
bool Allocate(void);
bool DeAllocate(void);
int GetDisperse(void) const {return disperse;}
void Debug(int from);
};
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
#endif