src/FDM/JSBSim/FGPosition.h

   1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
   2
   3  Header:       FGPosition.h
   4  Author:       Jon S. Berndt
   5  Date started: 1/5/99
   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 01/05/99   JSB   Created
  29
  30 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  31 SENTRY
  32 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  33
  34 #ifndef FGPOSITION_H
  35 #define FGPOSITION_H
  36
  37 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  38 INCLUDES
  39 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  40
  41 #include "FGModel.h"
  42 #include "FGMatrix33.h"
  43 #include "FGColumnVector3.h"
  44 #include "FGColumnVector4.h"
  45
  46 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  47 DEFINITIONS
  48 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  49
  50 #define ID_POSITION "$Id$"
  51
  52 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  53 FORWARD DECLARATIONS
  54 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  55
  56 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  57 COMMENTS, REFERENCES,  and NOTES
  58 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  59
  60 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  61 DOCUMENTATION
  62 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  63
  64 /** Models the lateral and longitudinal translational EOM.
  65     @author Jon S. Berndt
  66     @version $Id$
  67     @see <a href="http://cvs.sourceforge.net/cgi-bin/viewcvs.cgi/jsbsim/JSBSim/FGPosition.h?rev=HEAD&content-type=text/vnd.viewcvs-markup">
  68          Header File </a>
  69     @see <a href="http://cvs.sourceforge.net/cgi-bin/viewcvs.cgi/jsbsim/JSBSim/FGPosition.cpp?rev=HEAD&content-type=text/vnd.viewcvs-markup">
  70          Source File </a>
  71   */
  72
  73 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  74 CLASS DECLARATION
  75 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  76
  77 class FGPosition : public FGModel {
  78 public:
  79   /** Constructor
  80       @param Executive a pointer to the parent executive object */
  81   FGPosition(FGFDMExec*);
  82
  83   /// Destructor
  84   ~FGPosition();
  85
  86   bool InitModel(void);
  87
  88   /** Runs the Position model; called by the Executive
  89       @see JSBSim.cpp documentation
  90       @return false if no error */
  91   bool Run(void);
  92
  93   inline FGColumnVector3& GetVel(void) { return vVel; }
  94   inline FGColumnVector3& GetVelDot(void) { return vVelDot; }
  95   inline double GetVn(void)  const { return vVel(eX); }
  96   inline double GetVe(void)  const { return vVel(eY); }
  97   inline double GetVd(void)  const { return vVel(eZ); }
  98   inline double GetVground(void) const { return Vground; }
  99   inline double GetGroundTrack(void) const { return psigt; }
 100   inline double Geth(void)  const { return h; }
 101   inline double Gethdot(void) const { return RadiusDot; }
 102   inline double GetLatitude(void) const { return Latitude; }
 103   inline double GetLatitudeDot(void) const { return LatitudeDot; }
 104   inline double GetLongitude(void) const { return Longitude; }
 105   inline double GetLongitudeDot(void) const { return LongitudeDot; }
 106   inline double GetRunwayRadius(void) const { return RunwayRadius; }
 107   inline double GetDistanceAGL(void)  const { return DistanceAGL; }
 108   inline double GetRadius(void) const { return Radius; }
 109   inline FGColumnVector3& GetRunwayNormal(void) { return vRunwayNormal; }
 110
 111   inline double GetGamma(void) const { return gamma; }
 112   inline void SetGamma(double tt) { gamma = tt; }
 113   inline double GetHOverBCG(void) const { return hoverbcg; }
 114   inline double GetHOverBMAC(void) const { return hoverbmac; }
 115   void SetvVel(const FGColumnVector3& v) { vVel = v; }
 116   void SetLatitude(double tt) { Latitude = tt; }
 117   void SetLongitude(double tt) { Longitude = tt; }
 118   void Seth(double tt);
 119   void SetRunwayRadius(double tt) { RunwayRadius = tt; }
 120   void SetSeaLevelRadius(double tt) { SeaLevelRadius = tt;}
 121   void SetDistanceAGL(double tt);
 122   inline void SetRunwayNormal(double fgx, double fgy, double fgz ) {
 123       vRunwayNormal << fgx << fgy << fgz;
 124   }
 125
 126   void bind(void);
 127   void unbind(void);
 128
 129 private:
 130   FGColumnVector3 vVel;
 131   FGColumnVector3 vVelDot;
 132   FGColumnVector3 vRunwayNormal;
 133
 134   double Radius, h;
 135   double LatitudeDot, LongitudeDot, RadiusDot;
 136   double LatitudeDot_prev[3], LongitudeDot_prev[3], RadiusDot_prev[3];
 137   double Longitude, Latitude;
 138   double dt;
 139   double RunwayRadius;
 140   double DistanceAGL;
 141   double SeaLevelRadius;
 142   double gamma;
 143   double Vt, Vground;
 144   double hoverbcg,hoverbmac,b;
 145
 146   double psigt;
 147
 148   void GetState(void);
 149   void Debug(int from);
 150 };
 151
 152 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 153 #endif
 154