src/FDM/JSBSim/FGRotation.h

   1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
   2
   3  Header:       FGRotation.h
   4  Author:       Jon Berndt
   5  Date started: 12/02/98
   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 12/02/98   JSB   Created
  29
  30 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  31 SENTRY
  32 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  33
  34 #ifndef FGROTATION_H
  35 #define FGROTATION_H
  36
  37 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  38 INCLUDES
  39 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  40
  41 #ifdef FGFS
  42 #  include <simgear/compiler.h>
  43 #  include <math.h>
  44 #else
  45 #  if defined (sgi) && !defined(__GNUC__)
  46 #    include <math.h>
  47 #  else
  48 #    include <cmath>
  49 #  endif
  50 #endif
  51
  52 #include "FGModel.h"
  53 #include "FGMatrix33.h"
  54 #include "FGColumnVector3.h"
  55 #include "FGColumnVector4.h"
  56
  57 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  58 DEFINITIONS
  59 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  60
  61 #define ID_ROTATION "$Id$"
  62
  63 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  64 FORWARD DECLARATIONS
  65 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  66
  67 namespace JSBSim {
  68
  69 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  70 CLASS DOCUMENTATION
  71 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  72
  73 /** Models the rotational portion of the Equations of Motion.
  74     Note: The order of rotations used in this class corresponds to a 3-2-1 sequence,
  75     or Y-P-R, or Z-Y-X, if you prefer.
  76     @see Cooke, Zyda, Pratt, and McGhee, "NPSNET: Flight Simulation Dynamic Modeling
  77     Using Quaternions", Presence, Vol. 1, No. 4, pp. 404-420  Naval Postgraduate
  78     School, January 1994
  79     @see D. M. Henderson, "Euler Angles, Quaternions, and Transformation Matrices",
  80     JSC 12960, July 1977
  81     @see Richard E. McFarland, "A Standard Kinematic Model for Flight Simulation at
  82     NASA-Ames", NASA CR-2497, January 1975
  83     @see Barnes W. McCormick, "Aerodynamics, Aeronautics, and Flight Mechanics",
  84     Wiley & Sons, 1979 ISBN 0-471-03032-5
  85     @see Bernard Etkin, "Dynamics of Flight, Stability and Control", Wiley & Sons,
  86     1982 ISBN 0-471-08936-2
  87 */
  88
  89 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  90 CLASS DECLARATION
  91 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  92
  93 class FGRotation : public FGModel
  94 {
  95 public:
  96   FGRotation(FGFDMExec*);
  97   ~FGRotation();
  98
  99   bool Run(void);
 100
 101   inline FGColumnVector3& GetPQR(void) {return vPQR;}
 102   inline double GetPQR(int axis) const {return vPQR(axis);}
 103   inline FGColumnVector3& GetAeroPQR(void) {return vAeroPQR;}
 104   inline double GetAeroPQR(int axis) const {return vAeroPQR(axis);}
 105   inline FGColumnVector3& GetPQRdot(void) {return vPQRdot;}
 106   inline double GetPQRdot(int idx) const {return vPQRdot(idx);}
 107   inline FGColumnVector3& GetEuler(void) {return vEuler;}
 108   inline double GetEuler(int axis) const {return vEuler(axis);}
 109   inline FGColumnVector3& GetEulerRates(void) { return vEulerRates; }
 110   inline double GetEulerRates(int axis) const { return vEulerRates(axis); }
 111   inline void SetPQR(FGColumnVector3 tt) {vPQR = tt;}
 112   inline void SetPQR(double p, double q, double r) {vPQR(eP)=p;
 113                                                     vPQR(eQ)=q;
 114                                                     vPQR(eR)=r;}
 115   inline void SetAeroPQR(FGColumnVector3 tt) {vAeroPQR = tt;}
 116   inline void SetAeroPQR(double p, double q, double r) {vAeroPQR(eP)=p;
 117                                                         vAeroPQR(eQ)=q;
 118                                                         vAeroPQR(eR)=r;}
 119   inline void SetEuler(FGColumnVector3 tt) {vEuler = tt;}
 120
 121   inline double Getphi(void) const {return vEuler(1);}
 122   inline double Gettht(void) const {return vEuler(2);}
 123   inline double Getpsi(void) const {return vEuler(3);}
 124
 125   inline double GetCosphi(void) const {return cPhi;}
 126   inline double GetCostht(void) const {return cTht;}
 127   inline double GetCospsi(void) const {return cPsi;}
 128
 129   inline double GetSinphi(void) const {return sPhi;}
 130   inline double GetSintht(void) const {return sTht;}
 131   inline double GetSinpsi(void) const {return sPsi;}
 132
 133   void bind(void);
 134   void unbind(void);
 135
 136 private:
 137   FGColumnVector3 vPQR;
 138   FGColumnVector3 vAeroPQR;
 139   FGColumnVector3 vPQRdot;
 140   FGColumnVector3 vPQRdot_prev[4];
 141   FGColumnVector3 vMoments;
 142   FGColumnVector3 vEuler;
 143   FGColumnVector3 vEulerRates;
 144
 145   double cTht,sTht;
 146   double cPhi,sPhi;
 147   double cPsi,sPsi;
 148
 149   double Ixx, Iyy, Izz, Ixz;
 150   double dt;
 151
 152   void GetState(void);
 153
 154   void Debug(int from);
 155 };
 156 }
 157 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 158 #endif
 159