1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
7 ------------- Copyright (C) 2001 Jon S. Berndt (jon@jsbsim.org) -------------
9 This program is free software; you can redistribute it and/or modify it under
10 the terms of the GNU Lesser 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 Lesser General Public License for more
19 You should have received a copy of the GNU Lesser 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 Lesser General Public License can also be found on
24 the world wide web at http://www.gnu.org.
27 --------------------------------------------------------------------------------
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32 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
37 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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49 #include "input_output/string_utilities.h"
52 # define M_PI 3.14159265358979323846
55 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
57 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
59 #define ID_JSBBASE "$Id: FGJSBBase.h,v 1.33 2011/06/27 03:14:25 jberndt Exp $"
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71 /** JSBSim Base class.
72 * This class provides universal constants, utility functions, messaging
73 * functions, and enumerated constants to JSBSim.
75 @version $Id: FGJSBBase.h,v 1.33 2011/06/27 03:14:25 jberndt Exp $
78 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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84 /// Constructor for FGJSBBase.
87 /// Destructor for FGJSBBase.
88 virtual ~FGJSBBase() {};
90 /// JSBSim Message structure
94 unsigned int messageId;
96 std::string subsystem;
97 enum mType {eText, eInteger, eDouble, eBool} type;
103 /// First order, (low pass / lag) filter
109 public: Filter(void) {}
110 public: Filter(double coeff, double dt) {
111 prev_in = prev_out = 0.0;
112 double denom = 2.0 + coeff*dt;
114 cb = (2.0 - coeff*dt)/denom;
116 public: double execute(double in) {
117 double out = (in + prev_in)*ca + prev_out*cb;
124 ///@name JSBSim console output highlighting terms.
127 static char highint[5];
128 /// low intensity text
129 static char halfint[5];
130 /// normal intensity text
131 static char normint[6];
132 /// resets text properties
133 static char reset[5];
135 static char underon[5];
137 static char underoff[6];
139 static char fgblue[6];
141 static char fgcyan[6];
143 static char fgred[6];
145 static char fggreen[6];
147 static char fgdef[6];
150 ///@name JSBSim Messaging functions
152 /** Places a Message structure on the Message queue.
153 @param msg pointer to a Message structure
154 @return pointer to a Message structure */
155 void PutMessage(const Message& msg);
156 /** Creates a message with the given text and places it on the queue.
157 @param text message text
158 @return pointer to a Message structure */
159 void PutMessage(const std::string& text);
160 /** Creates a message with the given text and boolean value and places it on the queue.
161 @param text message text
162 @param bVal boolean value associated with the message
163 @return pointer to a Message structure */
164 void PutMessage(const std::string& text, bool bVal);
165 /** Creates a message with the given text and integer value and places it on the queue.
166 @param text message text
167 @param iVal integer value associated with the message
168 @return pointer to a Message structure */
169 void PutMessage(const std::string& text, int iVal);
170 /** Creates a message with the given text and double value and places it on the queue.
171 @param text message text
172 @param dVal double value associated with the message
173 @return pointer to a Message structure */
174 void PutMessage(const std::string& text, double dVal);
175 /** Reads the message on the queue (but does not delete it).
176 @return 1 if some messages */
177 int SomeMessages(void);
178 /** Reads the message on the queue and removes it from the queue.
179 This function also prints out the message.*/
180 void ProcessMessage(void);
181 /** Reads the next message on the queue and removes it from the queue.
182 This function also prints out the message.
183 @return a pointer to the message, or NULL if there are no messages.*/
184 Message* ProcessNextMessage(void);
187 /** Returns the version number of JSBSim.
188 * @return The version number of JSBSim. */
189 std::string GetVersion(void) {return JSBSim_version;}
191 /// Disables highlighting in the console output.
192 void disableHighLighting(void);
194 static short debug_lvl;
196 /** Converts from degrees Kelvin to degrees Fahrenheit.
197 * @param kelvin The temperature in degrees Kelvin.
198 * @return The temperature in Fahrenheit. */
199 static double KelvinToFahrenheit (double kelvin) {
200 return 1.8*kelvin - 459.4;
203 /** Converts from degrees Celsius to degrees Rankine.
204 * @param celsius The temperature in degrees Celsius.
205 * @return The temperature in Rankine. */
206 static double CelsiusToRankine (double celsius) {
207 return celsius * 1.8 + 491.67;
210 /** Converts from degrees Rankine to degrees Celsius.
211 * @param rankine The temperature in degrees Rankine.
212 * @return The temperature in Celsius. */
213 static double RankineToCelsius (double rankine) {
214 return (rankine - 491.67)/1.8;
217 /** Converts from degrees Kelvin to degrees Rankine.
218 * @param kelvin The temperature in degrees Kelvin.
219 * @return The temperature in Rankine. */
220 static double KelvinToRankine (double kelvin) {
224 /** Converts from degrees Rankine to degrees Kelvin.
225 * @param rankine The temperature in degrees Rankine.
226 * @return The temperature in Kelvin. */
227 static double RankineToKelvin (double rankine) {
231 /** Converts from degrees Fahrenheit to degrees Celsius.
232 * @param fahrenheit The temperature in degrees Fahrenheit.
233 * @return The temperature in Celsius. */
234 static double FahrenheitToCelsius (double fahrenheit) {
235 return (fahrenheit - 32.0)/1.8;
238 /** Converts from degrees Celsius to degrees Fahrenheit.
239 * @param celsius The temperature in degrees Celsius.
240 * @return The temperature in Fahrenheit. */
241 static double CelsiusToFahrenheit (double celsius) {
242 return celsius * 1.8 + 32.0;
245 /** Converts from degrees Celsius to degrees Kelvin
246 * @param celsius The temperature in degrees Celsius.
247 * @return The temperature in Kelvin. */
248 static double CelsiusToKelvin (double celsius) {
249 return celsius + 273.15;
252 /** Converts from degrees Kelvin to degrees Celsius
253 * @param celsius The temperature in degrees Kelvin.
254 * @return The temperature in Celsius. */
255 static double KelvinToCelsius (double kelvin) {
256 return kelvin - 273.15;
259 /** Finite precision comparison.
260 @param a first value to compare
261 @param b second value to compare
262 @return if the two values can be considered equal up to roundoff */
263 static bool EqualToRoundoff(double a, double b) {
264 double eps = 2.0*DBL_EPSILON;
265 return std::fabs(a - b) <= eps * max(std::fabs(a), std::fabs(b));
268 /** Finite precision comparison.
269 @param a first value to compare
270 @param b second value to compare
271 @return if the two values can be considered equal up to roundoff */
272 static bool EqualToRoundoff(float a, float b) {
273 float eps = 2.0*FLT_EPSILON;
274 return std::fabs(a - b) <= eps * max(std::fabs(a), std::fabs(b));
277 /** Finite precision comparison.
278 @param a first value to compare
279 @param b second value to compare
280 @return if the two values can be considered equal up to roundoff */
281 static bool EqualToRoundoff(float a, double b) {
282 return EqualToRoundoff(a, (float)b);
285 /** Finite precision comparison.
286 @param a first value to compare
287 @param b second value to compare
288 @return if the two values can be considered equal up to roundoff */
289 static bool EqualToRoundoff(double a, float b) {
290 return EqualToRoundoff((float)a, b);
293 /** Constrain a value between a minimum and a maximum value.
295 static double Constrain(double min, double value, double max) {
296 return value<min?(min):(value>max?(max):(value));
299 static double sign(double num) {return num>=0.0?1.0:-1.0;}
302 static Message localMsg;
304 static std::queue <Message> Messages;
308 static unsigned int messageId;
310 static const double radtodeg;
311 static const double degtorad;
312 static const double hptoftlbssec;
313 static const double psftoinhg;
314 static const double psftopa;
315 static const double fpstokts;
316 static const double ktstofps;
317 static const double inchtoft;
318 static const double in3tom3;
319 static const double m3toft3;
320 static const double inhgtopa;
321 static const double fttom;
322 static double Reng; // Specific Gas Constant,ft^2/(sec^2*R)
325 static const double SHRatio;
326 static const double lbtoslug;
327 static const double slugtolb;
328 static const double kgtolb;
329 static const double kgtoslug;
330 static const std::string needed_cfg_version;
331 static const std::string JSBSim_version;
333 static std::string CreateIndexedPropertyName(const std::string& Property, int index);
335 static double GaussianRandomNumber(void);
339 enum {eL = 1, eM, eN };
341 enum {eP = 1, eQ, eR };
342 /// Velocities U, V, W
343 enum {eU = 1, eV, eW };
344 /// Positions X, Y, Z
345 enum {eX = 1, eY, eZ };
346 /// Euler angles Phi, Theta, Psi
347 enum {ePhi = 1, eTht, ePsi };
348 /// Stability axis forces, Drag, Side force, Lift
349 enum {eDrag = 1, eSide, eLift };
350 /// Local frame orientation Roll, Pitch, Yaw
351 enum {eRoll = 1, ePitch, eYaw };
352 /// Local frame position North, East, Down
353 enum {eNorth = 1, eEast, eDown };
354 /// Locations Radius, Latitude, Longitude
355 enum {eLat = 1, eLong, eRad };
356 /// Conversion specifiers
357 enum {inNone = 0, inDegrees, inRadians, inMeters, inFeet };
362 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%