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1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
2
3  Header:       FGInertial.h
4  Author:       Jon S. Berndt
5  Date started: 09/13/00
6
7  ------------- Copyright (C) 1999  Jon S. Berndt (jsb@hal-pc.org) -------------
8
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
12  version.
13
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
17  details.
18
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.
22
23  Further information about the GNU General Public License can also be found on
24  the world wide web at http://www.gnu.org.
25
26 HISTORY
27 --------------------------------------------------------------------------------
28 09/13/00   JSB   Created
29
30 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
31 COMMENTS, REFERENCES,  and NOTES
32 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
33
34 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
35 SENTRY
36 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
37
38 #ifndef FGINERTIAL_H
39 #define FGINERTIAL_H
40
41 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
42 INCLUDES
43 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
44
45 #ifdef FGFS
46 #  include <simgear/compiler.h>
47 #  ifdef SG_HAVE_STD_INCLUDES
48 #    include <vector>
49 #  else
50 #    include <vector.h>
51 #  endif
52 #else
53 #  include <vector>
54 #endif
55
56 #include "FGModel.h"
57 #include "FGConfigFile.h"
58 #include "FGMatrix33.h"
59 #include "FGColumnVector3.h"
60 #include "FGColumnVector4.h"
61
62 #define ID_INERTIAL "$Id$"
63
64 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
65 CLASS DECLARATION
66 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
67
68
69 namespace JSBSim {
70
71 class FGInertial : public FGModel {
72
73 public:
74   FGInertial(FGFDMExec*);
75   ~FGInertial(void);
76
77   bool Run(void);
78   FGColumnVector3& GetForces(void) {return vForces;}
79   FGColumnVector3& GetGravity(void) {return vGravity;}
80   FGColumnVector3& GetCoriolis(void) {return vCoriolis;}
81   FGColumnVector3& GetCentrifugal(void) {return vCentrifugal;}
82   double GetForces(int n) const {return vForces(n);}
83   bool LoadInertial(FGConfigFile* AC_cfg);
84   double SLgravity(void) const {return gAccelReference;}
85   double gravity(void) const {return gAccel;}
86   double omega(void) const {return RotationRate;}
87   double RefRadius(void) const {return RadiusReference;}
88   
89   void bind(void);
90   void unbind(void);
91
92 private:
93   FGColumnVector3 vOmegaLocal;
94   FGColumnVector3 vForces;
95   FGColumnVector3 vRadius;
96   FGColumnVector3 vGravity;
97   FGColumnVector3 vCoriolis;
98   FGColumnVector3 vCentrifugal;
99   double gAccel;
100   double gAccelReference;
101   double RadiusReference;
102   double RotationRate;
103   double GM;
104   void Debug(int from);
105 };
106 }
107 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
108 #endif
109