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 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
31 COMMENTS, REFERENCES, and NOTES
32 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
33 [1] Cooke, Zyda, Pratt, and McGhee, "NPSNET: Flight Simulation Dynamic Modeling
34 Using Quaternions", Presence, Vol. 1, No. 4, pp. 404-420 Naval Postgraduate
36 [2] D. M. Henderson, "Euler Angles, Quaternions, and Transformation Matrices",
38 [3] Richard E. McFarland, "A Standard Kinematic Model for Flight Simulation at
39 NASA-Ames", NASA CR-2497, January 1975
40 [4] Barnes W. McCormick, "Aerodynamics, Aeronautics, and Flight Mechanics",
41 Wiley & Sons, 1979 ISBN 0-471-03032-5
42 [5] Bernard Etkin, "Dynamics of Flight, Stability and Control", Wiley & Sons,
43 1982 ISBN 0-471-08936-2
45 The order of rotations used in this class corresponds to a 3-2-1 sequence,
46 or Y-P-R, or Z-Y-X, if you prefer.
48 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
50 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
55 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
57 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
60 # include <simgear/compiler.h>
63 # if defined (sgi) && !defined(__GNUC__)
71 #include "FGMatrix33.h"
72 #include "FGColumnVector3.h"
73 #include "FGColumnVector4.h"
75 #define ID_ROTATION "$Id$"
77 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
79 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
81 class FGRotation : public FGModel
84 FGRotation(FGFDMExec*);
89 inline FGColumnVector3& GetPQR(void) {return vPQR;}
90 inline double GetPQR(int axis) {return vPQR(axis);}
91 inline FGColumnVector3& GetPQRdot(void) {return vPQRdot;}
92 inline double GetPQRdot(int idx) {return vPQRdot(idx);}
93 inline FGColumnVector3& GetEuler(void) {return vEuler;}
94 inline double GetEuler(int axis) {return vEuler(axis);}
95 inline FGColumnVector3& GetEulerRates(void) { return vEulerRates; }
96 inline double GetEulerRates(int axis) { return vEulerRates(axis); }
97 inline void SetPQR(FGColumnVector3 tt) {vPQR = tt;}
98 inline void SetEuler(FGColumnVector3 tt) {vEuler = tt;}
100 inline double Getphi(void) {return vEuler(1);}
101 inline double Gettht(void) {return vEuler(2);}
102 inline double Getpsi(void) {return vEuler(3);}
104 inline double GetCosphi(void) {return cPhi;}
105 inline double GetCostht(void) {return cTht;}
106 inline double GetCospsi(void) {return cPsi;}
108 inline double GetSinphi(void) {return sPhi;}
109 inline double GetSintht(void) {return sTht;}
110 inline double GetSinpsi(void) {return sPsi;}
113 FGColumnVector3 vPQR;
114 FGColumnVector3 vPQRdot;
115 FGColumnVector3 vMoments;
116 FGColumnVector3 vEuler;
117 FGColumnVector3 vEulerRates;
118 FGColumnVector3 vlastPQRdot;
124 double Ixx, Iyy, Izz, Ixz;
132 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%