src/FDM/JSBSim/FGInertial.h

   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