1 /*******************************************************************************
7 ------------- Copyright (C) 1999 Jon S. Berndt (jsb@hal-pc.org) -------------
9 This program is free software; you can redistribute it and/or modify it under
10 the terms of the GNU General Public License as published by the Free Software
11 Foundation; either version 2 of the License, or (at your option) any later
14 This program is distributed in the hope that it will be useful, but WITHOUT
15 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
16 FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
19 You should have received a copy of the GNU General Public License along with
20 this program; if not, write to the Free Software Foundation, Inc., 59 Temple
21 Place - Suite 330, Boston, MA 02111-1307, USA.
23 Further information about the GNU General Public License can also be found on
24 the world wide web at http://www.gnu.org.
27 --------------------------------------------------------------------------------
30 ********************************************************************************
31 COMMENTS, REFERENCES, and NOTES
32 ********************************************************************************
33 [1] Cooke, Zyda, Pratt, and McGhee, "NPSNET: Flight Simulation Dynamic Modeling
34 Using Quaternions", Presence, Vol. 1, No. 4, pp. 404-420 Naval Postgraduate
36 [2] D. M. Henderson, "Euler Angles, Quaternions, and Transformation Matrices",
38 [3] Richard E. McFarland, "A Standard Kinematic Model for Flight Simulation at
39 NASA-Ames", NASA CR-2497, January 1975
40 [4] Barnes W. McCormick, "Aerodynamics, Aeronautics, and Flight Mechanics",
41 Wiley & Sons, 1979 ISBN 0-471-03032-5
42 [5] Bernard Etkin, "Dynamics of Flight, Stability and Control", Wiley & Sons,
43 1982 ISBN 0-471-08936-2
45 The order of rotations used in this class corresponds to a 3-2-1 sequence,
46 or Y-P-R, or Z-Y-X, if you prefer.
48 ********************************************************************************
50 *******************************************************************************/
55 /*******************************************************************************
57 *******************************************************************************/
60 # include <Include/compiler.h>
61 # ifdef FG_HAVE_STD_INCLUDES
72 /*******************************************************************************
74 *******************************************************************************/
76 class FGRotation : public FGModel
79 FGRotation(FGFDMExec*);
84 inline float GetP(void) {return P;}
85 inline float GetQ(void) {return Q;}
86 inline float GetR(void) {return R;}
88 inline float GetPdot(void) {return Pdot;}
89 inline float GetQdot(void) {return Qdot;}
90 inline float GetRdot(void) {return Rdot;}
92 inline float Getphi(void) {return phi;}
93 inline float Gettht(void) {return tht;}
94 inline float Getpsi(void) {return psi;}
96 inline float GetQ0(void) {return Q0;}
97 inline float GetQ1(void) {return Q1;}
98 inline float GetQ2(void) {return Q2;}
99 inline float GetQ3(void) {return Q3;}
101 inline void SetP(float tt) {P = tt;}
102 inline void SetQ(float tt) {Q = tt;}
103 inline void SetR(float tt) {R = tt;}
105 inline void SetPQR(float t1, float t2, float t3) {P=t1;
109 inline void Setphi(float tt) {phi = tt;}
110 inline void Settht(float tt) {tht = tt;}
111 inline void Setpsi(float tt) {psi = tt;}
113 inline void SetEuler(float t1, float t2, float t3) {phi=t1;
117 inline void SetQ0123(float t1, float t2, float t3, float t4) {Q0=t1;
127 float Ixx, Iyy, Izz, Ixz;
128 float Q0, Q1, Q2, Q3;
130 float Pdot, Qdot, Rdot;
131 float Q0dot, Q1dot, Q2dot, Q3dot;
132 float lastPdot, lastQdot, lastRdot;
133 float lastQ0dot, lastQ1dot, lastQ2dot, lastQ3dot;
141 /******************************************************************************/