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 "FGMatrix.h"
  43
  44 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  45 DEFINITIONS
  46 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  47
  48 #define ID_POSITION "$Id$"
  49
  50 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  51 FORWARD DECLARATIONS
  52 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  53
  54 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  55 COMMENTS, REFERENCES,  and NOTES
  56 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  57
  58 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  59 DOCUMENTATION
  60 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  61
  62 /** Models the lateral and longitudinal translational EOM.
  63     @author Jon S. Berndt
  64     @version $Id$
  65   */
  66
  67 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  68 CLASS DECLARATION
  69 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  70
  71 class FGPosition : public FGModel {
  72 public:
  73   /** Constructor
  74       @param Executive a pointer to the parent executive object */
  75   FGPosition(FGFDMExec*);
  76   /// Destructor
  77   ~FGPosition();
  78
  79   /** Runs the Position model; called by the Executive
  80       @see JSBSim.cpp documentation
  81       @return false if no error */
  82   bool Run(void);
  83
  84   inline FGColumnVector GetVel(void) { return vVel; }
  85   inline FGColumnVector GetVelDot(void) { return vVelDot; }
  86   inline double GetVn(void)  { return vVel(eX); }
  87   inline double GetVe(void)  { return vVel(eY); }
  88   inline double GetVd(void)  { return vVel(eZ); }
  89   inline double GetVground(void) { return Vground; }
  90   inline double GetGroundTrack(void) { return psigt; }
  91   inline double Geth(void)  { return h; }
  92   inline double Gethdot(void) { return RadiusDot; }
  93   inline double GetLatitude(void) { return Latitude; }
  94   inline double GetLatitudeDot(void) { return LatitudeDot; }
  95   inline double GetLongitude(void) { return Longitude; }
  96   inline double GetLongitudeDot(void) { return LongitudeDot; }
  97   inline double GetRunwayRadius(void) { return RunwayRadius; }
  98   inline double GetDistanceAGL(void)  { return DistanceAGL; }
  99   inline double GetRadius(void) { return Radius; }
 100   inline FGColumnVector GetRunwayNormal(void) { return vRunwayNormal; }
 101
 102   inline double GetGamma(void) { return gamma; }
 103   inline void SetGamma(float tt) { gamma = tt; }
 104   inline double GetHOverB(void) { return hoverb; }
 105   void SetvVel(const FGColumnVector& v) { vVel = v; }
 106   void SetLatitude(float tt) { Latitude = tt; }
 107   void SetLongitude(double tt) { Longitude = tt; }
 108   void Seth(double tt);
 109   void SetRunwayRadius(double tt) { RunwayRadius = tt; }
 110   void SetSeaLevelRadius(double tt) { SeaLevelRadius = tt;}
 111   void SetDistanceAGL(double tt);
 112   inline void SetRunwayNormal(double fgx, double fgy, double fgz ) {
 113       vRunwayNormal << fgx << fgy << fgz;
 114   }
 115
 116 private:
 117   FGColumnVector vVel;
 118   FGColumnVector vVelDot;
 119   FGColumnVector vRunwayNormal;
 120
 121   double Vee, invMass, invRadius;
 122   double Radius, h;
 123   double LatitudeDot, LongitudeDot, RadiusDot;
 124   double lastLatitudeDot, lastLongitudeDot, lastRadiusDot;
 125   double Longitude, Latitude;
 126   float dt;
 127   double RunwayRadius;
 128   double DistanceAGL;
 129   double SeaLevelRadius;
 130   double gamma;
 131   double Vt, Vground;
 132   double hoverb,b;
 133
 134   double psigt;
 135
 136   void GetState(void);
 137   void Debug(void);
 138 };
 139
 140 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 141 #endif
 142