FGGroundReactions.h

/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

 Header:       FGGroundReactions.h
 Author:       Jon S. Berndt
 Date started: 09/13/00

 ------------- 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
--------------------------------------------------------------------------------
09/13/00   JSB   Created

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
SENTRY
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/

#ifndef FGGROUNDREACTIONS_H
#define FGGROUNDREACTIONS_H

/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
INCLUDES
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/

#include <vector>

#include "FGSurface.h"
#include "FGModel.h"
#include "FGLGear.h"
#include "math/FGColumnVector3.h"

#define ID_GROUNDREACTIONS "$Id: FGGroundReactions.h,v 1.30 2016/05/16 18:19:57 bcoconni Exp $"

/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FORWARD DECLARATIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/

namespace JSBSim {

/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DOCUMENTATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/

/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DECLARATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/

class FGGroundReactions : public FGModel, public FGSurface
{
public:
  FGGroundReactions(FGFDMExec*);
  ~FGGroundReactions(void);

  bool InitModel(void);
  bool Run(bool Holding);
  bool Load(Element* el);
  const FGColumnVector3& GetForces(void) const {return vForces;}
  double GetForces(int idx) const {return vForces(idx);}
  const FGColumnVector3& GetMoments(void) const {return vMoments;}
  double GetMoments(int idx) const {return vMoments(idx);}
  std::string GetGroundReactionStrings(std::string delimeter) const;
  std::string GetGroundReactionValues(std::string delimeter) const;
  bool GetWOW(void) const;

  int GetNumGearUnits(void) const { return (int)lGear.size(); }

  FGLGear* GetGearUnit(int gear) const { return lGear[gear]; }

  double GetDsCmd(void) const { return DsCmd; }

  void SetDsCmd(double cmd);

  void RegisterLagrangeMultiplier(LagrangeMultiplier* lmult) { multipliers.push_back(lmult); }
  std::vector <LagrangeMultiplier*>* GetMultipliersList(void) { return &multipliers; }

  FGLGear::Inputs in;

private:
  std::vector <FGLGear*> lGear;
  FGColumnVector3 vForces;
  FGColumnVector3 vMoments;
  std::vector <LagrangeMultiplier*> multipliers;
  double DsCmd;

  void bind(void);
  void Debug(int from);
};
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
#endif