src/FDM/JSBSim/FGMassBalance.h

   1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
   2
   3  Header:       FGMassBalance.h
   4  Author:       Jon S. Berndt
   5  Date started: 09/12/2000
   6
   7  ------------- Copyright (C) 2000  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 09/12/2000  JSB  Created
  29
  30 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  31 SENTRY
  32 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  33
  34 #ifndef FGMASSBALANCE_H
  35 #define FGMASSBALANCE_H
  36
  37 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  38 INCLUDES
  39 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  40
  41 #include "FGModel.h"
  42 #include "FGColumnVector3.h"
  43 #include "FGMatrix33.h"
  44 #include <vector>
  45
  46 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  47 DEFINITIONS
  48 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  49
  50 #define ID_MASSBALANCE "$Id$"
  51
  52 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  53 FORWARD DECLARATIONSS
  54 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  55
  56 namespace JSBSim {
  57
  58 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  59 CLASS DOCUMENTATION
  60 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  61
  62 /** Models weight and balance information.
  63   */
  64
  65 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  66 CLASS DECLARATION
  67 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  68
  69 class FGMassBalance : public FGModel
  70 {
  71
  72 public:
  73   FGMassBalance(FGFDMExec*);
  74   ~FGMassBalance();
  75
  76   bool Run(void);
  77
  78   inline double GetMass(void) const {return Mass;}
  79   inline double GetWeight(void) const {return Weight;}
  80   inline double GetEmptyWeight(void) const {return EmptyWeight;}
  81   inline FGColumnVector3& GetXYZcg(void) {return vXYZcg;}
  82   inline double GetXYZcg(int axis) const  {return vXYZcg(axis);}
  83   inline double GetbaseXYZcg(int axis) const  {return vbaseXYZcg(axis);}
  84
  85   /** Computes the inertia contribution of a pointmass.
  86       Computes and returns the inertia matrix of a pointmass of mass
  87       slugs at the given vector r in the structural frame. The units
  88       should be for the mass in slug and the vector in the structural
  89       frame as usual in inches.
  90       @param slugs the mass of this single pointmass given in slugs
  91       @param r the location of this single pointmass in the structural frame
  92    */
  93   FGMatrix33 GetPointmassInertia(double slugs, const FGColumnVector3& r) const
  94   {
  95     FGColumnVector3 v = StructuralToBody( r );
  96     FGColumnVector3 sv = slugs*v;
  97     double xx = sv(1)*v(1);
  98     double yy = sv(2)*v(2);
  99     double zz = sv(3)*v(3);
 100     double xy = -sv(1)*v(2);
 101     double xz = -sv(1)*v(3);
 102     double yz = -sv(2)*v(3);
 103     return FGMatrix33( yy+zz, xy, xz,
 104                        xy, xx+zz, yz,
 105                        xz, yz, xx+yy );
 106   }
 107
 108   /** Conversion from the structural frame to the body frame.
 109       Converts the location given in the structural frame
 110       coordinate system to the body frame. The units of the structural
 111       frame are assumed to be in inches. The unit of the result is in
 112       ft.
 113       @param r vector coordinate in the structural reference frame (X positive
 114                aft, measurements in inches).
 115       @return vector coordinate in the body frame, in feet.
 116    */
 117   FGColumnVector3 StructuralToBody(const FGColumnVector3& r) const;
 118
 119   inline void SetEmptyWeight(double EW) { EmptyWeight = EW;}
 120   inline void SetBaseCG(const FGColumnVector3& CG) {vbaseXYZcg = vXYZcg = CG;}
 121
 122   void AddPointMass(double weight, double X, double Y, double Z);
 123   double GetPointMassWeight(void);
 124   FGColumnVector3& GetPointMassMoment(void);
 125   FGMatrix33& GetJ(void) {return mJ;}
 126   FGMatrix33& GetJinv(void) {return mJinv;}
 127   void SetAircraftBaseInertias(FGMatrix33 BaseJ) {baseJ = BaseJ;}
 128   FGMatrix33& GetAircraftBaseInertias(void) {return baseJ;}
 129   int GetNumPointMasses(void) {return PointMassLoc.size();}
 130   FGColumnVector3& GetPointMassLoc(int i) {return PointMassLoc[i];}
 131   double GetPointMassWeight(int i) {return PointMassWeight[i];}
 132
 133   void bind(void);
 134   void unbind(void);
 135
 136 private:
 137   double Weight;
 138   double EmptyWeight;
 139   double Mass;
 140   FGMatrix33 mJ;
 141   FGMatrix33 mJinv;
 142   FGMatrix33 pmJ;
 143   FGMatrix33 baseJ;
 144   FGColumnVector3 vXYZcg;
 145   FGColumnVector3 vXYZtank;
 146   FGColumnVector3 vbaseXYZcg;
 147   FGColumnVector3 vPMxyz;
 148   vector <FGColumnVector3> PointMassLoc;
 149   vector <double> PointMassWeight;
 150   FGColumnVector3 PointMassCG;
 151   FGMatrix33& CalculatePMInertias(void);
 152
 153   void Debug(int from);
 154 };
 155 }
 156 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 157 #endif