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 FGColumnVector3& GetXYZcg(void) {return vXYZcg;}
  81   inline double GetXYZcg(int axis) const  {return vXYZcg(axis);}
  82
  83   /** Computes the inertia contribution of a pointmass.
  84       Computes and returns the inertia matrix of a pointmass of mass
  85       slugs at the given vector r in the structural frame. The units
  86       should be for the mass in slug and the vector in the structural
  87       frame as usual in inches.
  88       @param slugs the mass of this single pointmass given in slugs
  89       @param r the location of this single pointmass in the structural frame
  90    */
  91   FGMatrix33 GetPointmassInertia(double slugs, const FGColumnVector3& r) const
  92   {
  93     FGColumnVector3 v = StructuralToBody( r );
  94     FGColumnVector3 sv = slugs*v;
  95     double xx = sv(1)*v(1);
  96     double yy = sv(2)*v(2);
  97     double zz = sv(3)*v(3);
  98     double xy = -sv(1)*v(2);
  99     double xz = -sv(1)*v(3);
 100     double yz = -sv(2)*v(3);
 101     return FGMatrix33( yy+zz, xy, xz,
 102                        xy, xx+zz, yz,
 103                        xz, yz, xx+yy );
 104   }
 105
 106   /** Conversion from the structural frame to the body frame.
 107       Converts the location given in the structural frame
 108       coordinate system to the body frame. The units of the structural
 109       frame are assumed to be in inches. The unit of the result is in
 110       ft.
 111       @param r vector coordinate in the structural reference frame (X positive
 112                aft, measurements in inches).
 113       @return vector coordinate in the body frame, in feet.
 114    */
 115   FGColumnVector3 StructuralToBody(const FGColumnVector3& r) const;
 116
 117   inline void SetEmptyWeight(double EW) { EmptyWeight = EW;}
 118   inline void SetBaseCG(const FGColumnVector3& CG) {vbaseXYZcg = vXYZcg = CG;}
 119
 120   void AddPointMass(double weight, double X, double Y, double Z);
 121   double GetPointMassWeight(void);
 122   FGColumnVector3& GetPointMassMoment(void);
 123   FGMatrix33& GetJ(void) {return mJ;}
 124   FGMatrix33& GetJinv(void) {return mJinv;}
 125   void SetAircraftBaseInertias(FGMatrix33 BaseJ) {baseJ = BaseJ;}
 126
 127   void bind(void);
 128   void unbind(void);
 129
 130 private:
 131   double Weight;
 132   double EmptyWeight;
 133   double Mass;
 134   FGMatrix33 mJ;
 135   FGMatrix33 mJinv;
 136   FGMatrix33 pmJ;
 137   FGMatrix33 baseJ;
 138   FGColumnVector3 vXYZcg;
 139   FGColumnVector3 vXYZtank;
 140   FGColumnVector3 vbaseXYZcg;
 141   FGColumnVector3 vPMxyz;
 142   vector <FGColumnVector3> PointMassLoc;
 143   vector <double> PointMassWeight;
 144   FGColumnVector3 PointMassCG;
 145   FGMatrix33& CalculatePMInertias(void);
 146
 147   void Debug(int from);
 148 };
 149 }
 150 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 151 #endif