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"
 
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FORWARD DECLARATIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
namespace JSBSim {
 
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DOCUMENTATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DECLARATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
class JSBSIM_API FGGroundReactions : public FGModel, public FGSurface
{
public:
  FGGroundReactions(FGFDMExec*);
 
  bool InitModel(void) override;
  bool Run(bool Holding) override;
  bool Load(Element* el) override;
  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(); }
 
  auto 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 <std::shared_ptr<FGLGear>> lGear;
  FGColumnVector3 vForces;
  FGColumnVector3 vMoments;
  std::vector <LagrangeMultiplier*> multipliers;
  double DsCmd;
 
  void bind(void);
  void Debug(int from) override;
};
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
#endif