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 SENTRY
  32 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  33
  34 #ifndef FGINERTIAL_H
  35 #define FGINERTIAL_H
  36
  37 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  38 INCLUDES
  39 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  40
  41 #ifdef FGFS
  42 #  include <simgear/compiler.h>
  43 #  ifdef SG_HAVE_STD_INCLUDES
  44 #    include <vector>
  45 #  else
  46 #    include <vector.h>
  47 #  endif
  48 #else
  49 #  include <vector>
  50 #endif
  51
  52 #include "FGModel.h"
  53 #include "FGConfigFile.h"
  54 #include "FGMatrix33.h"
  55 #include "FGColumnVector3.h"
  56 #include "FGColumnVector4.h"
  57
  58 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  59 DEFINITIONS
  60 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  61
  62 #define ID_INERTIAL "$Id$"
  63
  64 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  65 FORWARD DECLARATIONS
  66 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  67
  68 namespace JSBSim {
  69
  70 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  71 CLASS DOCUMENTATION
  72 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  73
  74 /** Models inertial forces (e.g. centripetal and coriolis accelerations).
  75   */
  76
  77 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  78 CLASS DECLARATION
  79 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  80
  81 class FGInertial : public FGModel {
  82
  83 public:
  84   FGInertial(FGFDMExec*);
  85   ~FGInertial(void);
  86
  87   bool Run(void);
  88   FGColumnVector3& GetForces(void) {return vForces;}
  89   FGColumnVector3& GetGravity(void) {return vGravity;}
  90   FGColumnVector3& GetCoriolis(void) {return vCoriolis;}
  91   FGColumnVector3& GetCentrifugal(void) {return vCentrifugal;}
  92   double GetForces(int n) const {return vForces(n);}
  93   bool LoadInertial(FGConfigFile* AC_cfg);
  94   double SLgravity(void) const {return gAccelReference;}
  95   double gravity(void) const {return gAccel;}
  96   double omega(void) const {return RotationRate;}
  97   double RefRadius(void) const {return RadiusReference;}
  98
  99   void bind(void);
 100   void unbind(void);
 101
 102 private:
 103   FGColumnVector3 vOmegaLocal;
 104   FGColumnVector3 vForces;
 105   FGColumnVector3 vRadius;
 106   FGColumnVector3 vGravity;
 107   FGColumnVector3 vCoriolis;
 108   FGColumnVector3 vCentrifugal;
 109   double gAccel;
 110   double gAccelReference;
 111   double RadiusReference;
 112   double RotationRate;
 113   double GM;
 114   void Debug(int from);
 115 };
 116 }
 117 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 118 #endif
 119