Manages ground reactions modeling. More...

#include <FGGroundReactions.h>

Inheritance diagram for FGGroundReactions:

Collaboration diagram for FGGroundReactions:

Public Member Functions
	FGGroundReactions (FGFDMExec *)

double	GetDsCmd (void) const
	Gets the steering command. More...

const FGColumnVector3 &	GetForces (void) const

double	GetForces (int idx) const

FGLGear *	GetGearUnit (int gear) const
	Gets a gear instance. More...

std::string	GetGroundReactionStrings (std::string delimeter) const

std::string	GetGroundReactionValues (std::string delimeter) const

const FGColumnVector3 &	GetMoments (void) const

double	GetMoments (int idx) const

std::vector< LagrangeMultiplier * > *	GetMultipliersList (void)

int	GetNumGearUnits (void) const

bool	GetWOW (void) const

bool	InitModel (void)

bool	Load (Element *el)
	Loads this model. More...

void	RegisterLagrangeMultiplier (LagrangeMultiplier *lmult)

bool	Run (bool Holding)
	Runs the Ground Reactions model; called by the Executive Can pass in a value indicating if the executive is directing the simulation to Hold. More...

void	SetDsCmd (double cmd)
	Sets the steering command. More...

Public Member Functions inherited from FGModel
	FGModel (FGFDMExec *)
	Constructor.

virtual	~FGModel ()
	Destructor.

virtual SGPath	FindFullPathName (const SGPath &path) const

FGFDMExec *	GetExec (void)

unsigned int	GetRate (void)
	Get the output rate for the model in frames.

void	SetPropertyManager (FGPropertyManager *fgpm)

void	SetRate (unsigned int tt)
	Set the ouput rate for the model in frames.

Public Member Functions inherited from FGModelFunctions
std::string	GetFunctionStrings (const std::string &delimeter) const
	Gets the strings for the current set of functions. More...

std::string	GetFunctionValues (const std::string &delimeter) const
	Gets the function values. More...

FGFunction *	GetPreFunction (const std::string &name)
	Get one of the "pre" function. More...

bool	Load (Element el, FGPropertyManager PropertyManager, std::string prefix="")

void	PostLoad (Element el, FGPropertyManager PropertyManager, std::string prefix="")

void	PreLoad (Element el, FGPropertyManager PropertyManager, std::string prefix="")

void	RunPostFunctions (void)

void	RunPreFunctions (void)

Public Member Functions inherited from FGJSBBase
	FGJSBBase ()
	Constructor for FGJSBBase.

virtual	~FGJSBBase ()
	Destructor for FGJSBBase.

void	disableHighLighting (void)
	Disables highlighting in the console output.

std::string	GetVersion (void)
	Returns the version number of JSBSim. More...

void	PutMessage (const Message &msg)
	Places a Message structure on the Message queue. More...

void	PutMessage (const std::string &text)
	Creates a message with the given text and places it on the queue. More...

void	PutMessage (const std::string &text, bool bVal)
	Creates a message with the given text and boolean value and places it on the queue. More...

void	PutMessage (const std::string &text, int iVal)
	Creates a message with the given text and integer value and places it on the queue. More...

void	PutMessage (const std::string &text, double dVal)
	Creates a message with the given text and double value and places it on the queue. More...

int	SomeMessages (void)
	Reads the message on the queue (but does not delete it). More...

void	ProcessMessage (void)
	Reads the message on the queue and removes it from the queue. More...

Message *	ProcessNextMessage (void)
	Reads the next message on the queue and removes it from the queue. More...

Public Member Functions inherited from FGSurface
	FGSurface (FGFDMExec *fdmex, int number=-1)
	Constructor.

	~FGSurface ()
	Destructor.

void	bind (void)

float	GetBumpHeight ()
	Returns the height of the bump at the provided offset.

double	GetBumpiness (void)
	Gets the normalized bumpiness factor associated with the surface.

double	GetMaximumForce (void)
	Gets the maximum force of the surface area.

double	GetRollingFFactor (void)
	Gets the rolling friction factor of the surface area.

bool	GetSolid (void)
	Gets the surface is a solid flag value.

double	GetStaticFFactor (void)
	Gets the static friction factor of the surface area.

std::string	GetSurfaceStrings (std::string delimeter) const

std::string	GetSurfaceValues (std::string delimeter) const

void	resetValues (void)
	Reset all surface values to a default.

void	SetBumpiness (double bump)
	Sets the normalized bumpiness factor associated with the surface.

void	SetMaximumForce (double force)
	Sets the maximum force for the surface area.

void	SetPosition (const double pt[3])
	Set the currect position for bumpiness calulcation.

void	SetRollingFFactor (double friction)
	Sets the rolling friction factor of the surface area.

void	SetSolid (bool solid)
	Sets the surface is a solid flag value.

void	SetStaticFFactor (double friction)
	Sets the static friction factor of the surface area.

Public Attributes
FGLGear::Inputs	in

Public Attributes inherited from FGModel
std::string	Name

Additional Inherited Members
Public Types inherited from FGJSBBase
enum	{ eL = 1, eM, eN }
	Moments L, M, N.

enum	{ eP = 1, eQ, eR }
	Rates P, Q, R.

enum	{ eU = 1, eV, eW }
	Velocities U, V, W.

enum	{ eX = 1, eY, eZ }
	Positions X, Y, Z.

enum	{ ePhi = 1, eTht, ePsi }
	Euler angles Phi, Theta, Psi.

enum	{ eDrag = 1, eSide, eLift }
	Stability axis forces, Drag, Side force, Lift.

enum	{ eRoll = 1, ePitch, eYaw }
	Local frame orientation Roll, Pitch, Yaw.

enum	{ eNorth = 1, eEast, eDown }
	Local frame position North, East, Down.

enum	{ eLat = 1, eLong, eRad }
	Locations Radius, Latitude, Longitude.

enum	{ inNone = 0, inDegrees, inRadians, inMeters, inFeet }
	Conversion specifiers.

Public Types inherited from FGSurface
enum	ContactType { ctBOGEY, ctSTRUCTURE, ctGROUND }

Static Public Member Functions inherited from FGJSBBase
static double	CelsiusToFahrenheit (double celsius)
	Converts from degrees Celsius to degrees Fahrenheit. More...

static double	CelsiusToKelvin (double celsius)
	Converts from degrees Celsius to degrees Kelvin. More...

static double	CelsiusToRankine (double celsius)
	Converts from degrees Celsius to degrees Rankine. More...

static double	Constrain (double min, double value, double max)
	Constrain a value between a minimum and a maximum value.

static bool	EqualToRoundoff (double a, double b)
	Finite precision comparison. More...

static bool	EqualToRoundoff (float a, float b)
	Finite precision comparison. More...

static bool	EqualToRoundoff (float a, double b)
	Finite precision comparison. More...

static bool	EqualToRoundoff (double a, float b)
	Finite precision comparison. More...

static double	FahrenheitToCelsius (double fahrenheit)
	Converts from degrees Fahrenheit to degrees Celsius. More...

static double	FeetToMeters (double measure)
	Converts from feet to meters. More...

static double	GaussianRandomNumber (void)

static double	KelvinToCelsius (double kelvin)
	Converts from degrees Kelvin to degrees Celsius. More...

static double	KelvinToFahrenheit (double kelvin)
	Converts from degrees Kelvin to degrees Fahrenheit. More...

static double	KelvinToRankine (double kelvin)
	Converts from degrees Kelvin to degrees Rankine. More...

static double	MachFromVcalibrated (double vcas, double p, double psl, double rhosl)
	Calculate the Mach number from the calibrated airspeed. More...

static double	PitotTotalPressure (double mach, double p)
	Compute the total pressure in front of the Pitot tube. More...

static double	RankineToCelsius (double rankine)
	Converts from degrees Rankine to degrees Celsius. More...

static double	RankineToKelvin (double rankine)
	Converts from degrees Rankine to degrees Kelvin. More...

static double	sign (double num)

static double	VcalibratedFromMach (double mach, double p, double psl, double rhosl)
	Calculate the calibrated airspeed from the Mach number. More...

Static Public Attributes inherited from FGJSBBase
static short	debug_lvl = 1

static char	highint [5] = {27, '[', '1', 'm', '\0' }
	highlights text

static char	halfint [5] = {27, '[', '2', 'm', '\0' }
	low intensity text

static char	normint [6] = {27, '[', '2', '2', 'm', '\0' }
	normal intensity text

static char	reset [5] = {27, '[', '0', 'm', '\0' }
	resets text properties

static char	underon [5] = {27, '[', '4', 'm', '\0' }
	underlines text

static char	underoff [6] = {27, '[', '2', '4', 'm', '\0' }
	underline off

static char	fgblue [6] = {27, '[', '3', '4', 'm', '\0' }
	blue text

static char	fgcyan [6] = {27, '[', '3', '6', 'm', '\0' }
	cyan text

static char	fgred [6] = {27, '[', '3', '1', 'm', '\0' }
	red text

static char	fggreen [6] = {27, '[', '3', '2', 'm', '\0' }
	green text

static char	fgdef [6] = {27, '[', '3', '9', 'm', '\0' }
	default text

Protected Member Functions inherited from FGJSBBase
void	Debug (int)

Static Protected Member Functions inherited from FGJSBBase
static std::string	CreateIndexedPropertyName (const std::string &Property, int index)

Protected Attributes inherited from FGModel
unsigned int	exe_ctr

FGFDMExec *	FDMExec

FGPropertyManager *	PropertyManager

unsigned int	rate

Protected Attributes inherited from FGModelFunctions
FGPropertyReader	LocalProperties

std::vector< FGFunction * >	PostFunctions

std::vector< FGFunction * >	PreFunctions

Protected Attributes inherited from FGSurface
double	bumpiness

double	dynamicFCoeff

ContactType	eSurfaceType

bool	isSolid

double	maximumForce

double	rollingFFactor

double	staticFCoeff

double	staticFFactor

Static Protected Attributes inherited from FGJSBBase
static const double	degtorad = 0.017453292519943295769236907684886

static const double	fpstokts = 1.0/ktstofps

static const double	fttom = 0.3048

static int	gaussian_random_number_phase = 0

static const double	hptoftlbssec = 550.0

static const double	in3tom3 = 1.638706E-5

static const double	inchtoft = 0.08333333

static const double	inhgtopa = 3386.38

static const std::string	JSBSim_version = "1.0 " __DATE__ " " __TIME__

static const double	kgtolb = 2.20462

static const double	kgtoslug = 0.06852168

static const double	ktstofps = 1.68781

static const double	lbtoslug = 1.0/slugtolb

static Message	localMsg

static const double	m3toft3 = 1.0/(fttomfttomfttom)

static double	Mair = 28.9645

static unsigned int	messageId = 0

static std::queue< Message >	Messages

static const std::string	needed_cfg_version = "2.0"

static const double	psftoinhg = 0.014138

static const double	psftopa = 47.88

static const double	radtodeg = 57.295779513082320876798154814105

static double	Reng = 1716.56

static double	Rstar = 1545.348

static const double	SHRatio = 1.40

static const double	slugtolb = 32.174049

Detailed Description

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.

Configuration File Format of <ground_reactions> Section:

<ground_reactions>
    <contact>
       ... {see FGLGear for specifics of this format}
    </contact>
    ... {more contacts}
</ground_reactions>

Definition at line 81 of file FGGroundReactions.h.

Member Function Documentation

◆ GetDsCmd()

double GetDsCmd ( void ) const

inline

Gets the steering command.

Returns: steering command in range from -1.0 - 1.0

Definition at line 114 of file FGGroundReactions.h.

114 { return DsCmd; }

Here is the call graph for this function:

Here is the caller graph for this function:

◆ GetGearUnit()

FGLGear* GetGearUnit ( int gear ) const

inline

Gets a gear instance.

Parameters

gear	index of gear instance

Returns: a pointer to the FGLGear instance of the gear unit requested

Definition at line 110 of file FGGroundReactions.h.

110 { return lGear[gear]; }

Here is the caller graph for this function:

◆ Load()

bool Load ( Element * el )

virtual

Loads this model.

Parameters

el	a pointer to the element

Returns: true if model is successfully loaded

Reimplemented from FGModel.

Definition at line 152 of file FGGroundReactions.cpp.

 {
   int num=0;
 
   Name = "Ground Reactions Model: " + document->GetAttributeValue("name");
 
   Debug(2);
 
   // Perform base class Pre-Load
   if (!FGModel::Load(document))
     return false;
 
   unsigned int numContacts = document->GetNumElements("contact");
   lGear.resize(numContacts);
   Element* contact_element = document->FindElement("contact");
   for (unsigned int idx=0; idx<numContacts; idx++) {
     lGear[idx] = new FGLGear(contact_element, FDMExec, num++, in);
     contact_element = document->FindNextElement("contact");
   }
 
   for (unsigned int i=0; i<lGear.size();i++) lGear[i]->bind();
 
   PostLoad(document, PropertyManager);
 
   return true;
 }

Here is the call graph for this function:

◆ Run()

bool Run ( bool Holding )

virtual

Runs the Ground Reactions model; called by the Executive Can pass in a value indicating if the executive is directing the simulation to Hold.

Parameters

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.

Returns: false if no error

Reimplemented from FGModel.

Definition at line 100 of file FGGroundReactions.cpp.

 {
   if (FGModel::Run(Holding)) return true;
   if (Holding) return false;
 
   RunPreFunctions();
 
   vForces.InitMatrix();
   vMoments.InitMatrix();
 
   multipliers.clear();
 
   // Sum forces and moments for all gear, here.
   // Some optimizations may be made here - or rather in the gear code itself.
   // The gear ::Run() method is called several times - once for each gear.
   // Perhaps there is some commonality for things which only need to be
   // calculated once.
   for (unsigned int i=0; i<lGear.size(); i++) {
     vForces  += lGear[i]->GetBodyForces(this);
     vMoments += lGear[i]->GetMoments();
   }
 
   RunPostFunctions();
 
   return false;
 }

Here is the call graph for this function:

Here is the caller graph for this function:

◆ SetDsCmd()

void SetDsCmd ( double cmd )

Sets the steering command.

Parameters

cmd	steering command in percent

Definition at line 143 of file FGGroundReactions.cpp.

 {
   DsCmd = cmd;
   for (unsigned int i=0; i<lGear.size(); ++i)
     lGear[i]->SetSteerCmd(cmd);
 }

Here is the caller graph for this function:

The documentation for this class was generated from the following files:

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Configuration File Format of <ground_reactions> Section:

Member Function Documentation

◆ GetDsCmd()

◆ GetGearUnit()

◆ Load()

◆ Run()

◆ SetDsCmd()