108 lines
3.3 KiB
C++
108 lines
3.3 KiB
C++
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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Header: FGGroundReactions.h
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Author: Jon S. Berndt
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Date started: 09/13/00
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------------- Copyright (C) 1999 Jon S. Berndt (jsb@hal-pc.org) -------------
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This program is free software; you can redistribute it and/or modify it under
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the terms of the GNU General Public License as published by the Free Software
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Foundation; either version 2 of the License, or (at your option) any later
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version.
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This program is distributed in the hope that it will be useful, but WITHOUT
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ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
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details.
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You should have received a copy of the GNU General Public License along with
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this program; if not, write to the Free Software Foundation, Inc., 59 Temple
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Place - Suite 330, Boston, MA 02111-1307, USA.
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Further information about the GNU General Public License can also be found on
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the world wide web at http://www.gnu.org.
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HISTORY
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--------------------------------------------------------------------------------
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09/13/00 JSB Created
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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COMMENTS, REFERENCES, and NOTES
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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SENTRY
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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#ifndef FGGROUNDREACTIONS_H
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#define FGGROUNDREACTIONS_H
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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INCLUDES
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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#ifdef FGFS
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# include <simgear/compiler.h>
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# ifdef SG_HAVE_STD_INCLUDES
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# include <vector>
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# else
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# include <vector.h>
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# endif
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#else
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# include <vector>
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#endif
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#include "FGModel.h"
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#include "FGConfigFile.h"
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#include "FGLGear.h"
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#include "FGInertial.h"
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#include "FGMatrix33.h"
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#define ID_GROUNDREACTIONS "$Id$"
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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CLASS DECLARATION
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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namespace JSBSim {
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class FGGroundReactions : public FGModel
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{
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public:
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FGGroundReactions(FGFDMExec*);
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~FGGroundReactions(void);
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bool Run(void);
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bool Load(FGConfigFile* AC_cfg);
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FGColumnVector3& GetForces(void) {return vForces;}
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double GetForces(int idx) const {return vForces(idx);}
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FGColumnVector3& GetMoments(void) {return vMoments;}
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double GetMoments(int idx) const {return vMoments(idx);}
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string GetGroundReactionStrings(void);
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string GetGroundReactionValues(void);
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inline int GetNumGearUnits(void) const { return lGear.size(); }
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/** Gets a gear instance
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@param gear index of gear instance
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@return a pointer to the FGLGear instance of the gear unit requested */
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inline FGLGear* GetGearUnit(int gear) { return &(lGear[gear]); }
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void bind(void);
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void unbind(void);
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private:
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vector <FGLGear> lGear;
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FGColumnVector3 vForces;
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FGColumnVector3 vMoments;
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FGColumnVector3 vMaxStaticGrip;
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FGColumnVector3 vMaxMomentResist;
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void Debug(int from);
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};
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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#endif
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