1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
7 ------------- Copyright (C) 1999 Jon S. Berndt (jsb@hal-pc.org) -------------
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
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
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.
23 Further information about the GNU General Public License can also be found on
24 the world wide web at http://www.gnu.org.
27 --------------------------------------------------------------------------------
30 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
32 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
37 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
39 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
42 #include "FGMatrix33.h"
43 #include "FGColumnVector3.h"
44 #include "FGColumnVector4.h"
46 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
48 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
50 #define ID_POSITION "$Id$"
52 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
54 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
58 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
60 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
62 /** Models the lateral and longitudinal translational EOM.
67 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
69 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
71 class FGPosition : public FGModel {
74 @param Executive a pointer to the parent executive object */
75 FGPosition(FGFDMExec* Executive);
82 /** Runs the Position model; called by the Executive
83 @see JSBSim.cpp documentation
84 @return false if no error */
87 inline FGColumnVector3& GetVel(void) { return vVel; }
88 inline FGColumnVector3& GetVelDot(void) { return vVelDot; }
89 inline double GetVn(void) const { return vVel(eX); }
90 inline double GetVe(void) const { return vVel(eY); }
91 inline double GetVd(void) const { return vVel(eZ); }
92 inline double GetVground(void) const { return Vground; }
93 inline double GetGroundTrack(void) const { return psigt; }
94 inline double Geth(void) const { return h; }
95 inline double GethVRP(void) const { return hVRP; }
96 inline double Gethdot(void) const { return RadiusDot; }
97 inline double GetLatitude(void) const { return Latitude; }
98 inline double GetLatitudeVRP(void) const { return LatitudeVRP; }
99 inline double GetLatitudeDot(void) const { return LatitudeDot; }
100 inline double GetLongitude(void) const { return Longitude; }
101 inline double GetLongitudeVRP(void) const { return LongitudeVRP; }
102 inline double GetLongitudeDot(void) const { return LongitudeDot; }
103 inline double GetRunwayRadius(void) const { return RunwayRadius; }
104 inline double GetDistanceAGL(void) const { return DistanceAGL; }
105 inline double GetRadius(void) const { return Radius; }
106 inline FGColumnVector3& GetRunwayNormal(void) { return vRunwayNormal; }
108 inline double GetGamma(void) const { return gamma; }
109 inline void SetGamma(double tt) { gamma = tt; }
110 inline double GetHOverBCG(void) const { return hoverbcg; }
111 inline double GetHOverBMAC(void) const { return hoverbmac; }
112 void SetvVel(const FGColumnVector3& v) { vVel = v; }
113 void SetLatitude(double tt) { Latitude = tt; }
114 void SetLongitude(double tt) { Longitude = tt; }
115 void Seth(double tt);
116 void SetRunwayRadius(double tt) { RunwayRadius = tt; }
117 void SetSeaLevelRadius(double tt) { SeaLevelRadius = tt;}
118 void SetDistanceAGL(double tt);
119 inline void SetRunwayNormal(double fgx, double fgy, double fgz ) {
120 vRunwayNormal << fgx << fgy << fgz;
122 void SetVRP(FGColumnVector3& vrp) {vVRP = vrp;}
128 FGColumnVector3 vVel;
129 FGColumnVector3 vVelDot;
130 FGColumnVector3 vRunwayNormal;
131 FGColumnVector3 vVRP;
132 FGColumnVector3 vVRPoffset;
133 FGColumnVector3 vMac;
135 double Radius, h, hVRP;
136 double LatitudeDot, LongitudeDot, RadiusDot;
137 double LatitudeDot_prev[4], LongitudeDot_prev[4], RadiusDot_prev[4];
138 double Longitude, Latitude;
139 double LongitudeVRP, LatitudeVRP;
143 double SeaLevelRadius;
146 double hoverbcg,hoverbmac,b;
151 void Debug(int from);
154 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%