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   */
  68
  69 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  70 CLASS DECLARATION
  71 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  72
  73 class FGPosition : public FGModel {
  74 public:
  75   /** Constructor
  76       @param Executive a pointer to the parent executive object */
  77   FGPosition(FGFDMExec*);
  78   /// Destructor
  79   ~FGPosition();
  80
  81   bool InitModel(void);
  82
  83   /** Runs the Position model; called by the Executive
  84       @see JSBSim.cpp documentation
  85       @return false if no error */
  86   bool Run(void);
  87
  88   inline FGColumnVector3& GetVel(void) { return vVel; }
  89   inline FGColumnVector3& GetVelDot(void) { return vVelDot; }
  90   inline double GetVn(void)  { return vVel(eX); }
  91   inline double GetVe(void)  { return vVel(eY); }
  92   inline double GetVd(void)  { return vVel(eZ); }
  93   inline double GetVground(void) { return Vground; }
  94   inline double GetGroundTrack(void) { return psigt; }
  95   inline double Geth(void)  { return h; }
  96   inline double Gethdot(void) { return RadiusDot; }
  97   inline double GetLatitude(void) { return Latitude; }
  98   inline double GetLatitudeDot(void) { return LatitudeDot; }
  99   inline double GetLongitude(void) { return Longitude; }
 100   inline double GetLongitudeDot(void) { return LongitudeDot; }
 101   inline double GetRunwayRadius(void) { return RunwayRadius; }
 102   inline double GetDistanceAGL(void)  { return DistanceAGL; }
 103   inline double GetRadius(void) { return Radius; }
 104   inline FGColumnVector3& GetRunwayNormal(void) { return vRunwayNormal; }
 105
 106   inline double GetGamma(void) { return gamma; }
 107   inline void SetGamma(double tt) { gamma = tt; }
 108   inline double GetHOverBCG(void) { return hoverbcg; }
 109   inline double GetHOverBMAC(void){ return hoverbmac; }
 110   void SetvVel(const FGColumnVector3& v) { vVel = v; }
 111   void SetLatitude(double tt) { Latitude = tt; }
 112   void SetLongitude(double tt) { Longitude = tt; }
 113   void Seth(double tt);
 114   void SetRunwayRadius(double tt) { RunwayRadius = tt; }
 115   void SetSeaLevelRadius(double tt) { SeaLevelRadius = tt;}
 116   void SetDistanceAGL(double tt);
 117   inline void SetRunwayNormal(double fgx, double fgy, double fgz ) {
 118       vRunwayNormal << fgx << fgy << fgz;
 119   }
 120
 121 private:
 122   FGColumnVector3 vVel;
 123   FGColumnVector3 vVelDot;
 124   FGColumnVector3 vRunwayNormal;
 125
 126   double Radius, h;
 127   double LatitudeDot, LongitudeDot, RadiusDot;
 128   double lastLatitudeDot, lastLongitudeDot, lastRadiusDot;
 129   double Longitude, Latitude;
 130   double dt;
 131   double RunwayRadius;
 132   double DistanceAGL;
 133   double SeaLevelRadius;
 134   double gamma;
 135   double Vt, Vground;
 136   double hoverbcg,hoverbmac,b;
 137
 138   double psigt;
 139
 140   void GetState(void);
 141   void Debug(int from);
 142 };
 143
 144 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 145 #endif
 146