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 <simgear/compiler.h>
45 # if defined (sgi) && !defined(__GNUC__)
53 #include "FGMatrix33.h"
54 #include "FGColumnVector3.h"
55 #include "FGColumnVector4.h"
57 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
59 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
61 #define ID_ROTATION "$Id$"
63 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
65 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
69 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
71 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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
79 @see D. M. Henderson, "Euler Angles, Quaternions, and Transformation Matrices",
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
89 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
91 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
93 class FGRotation : public FGModel
96 FGRotation(FGFDMExec*);
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;
115 inline void SetAeroPQR(FGColumnVector3 tt) {vAeroPQR = tt;}
116 inline void SetAeroPQR(double p, double q, double r) {vAeroPQR(eP)=p;
119 inline void SetEuler(FGColumnVector3 tt) {vEuler = tt;}
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);}
125 inline double GetCosphi(void) const {return cPhi;}
126 inline double GetCostht(void) const {return cTht;}
127 inline double GetCospsi(void) const {return cPsi;}
129 inline double GetSinphi(void) const {return sPhi;}
130 inline double GetSintht(void) const {return sTht;}
131 inline double GetSinpsi(void) const {return sPsi;}
137 FGColumnVector3 vPQR;
138 FGColumnVector3 vAeroPQR;
139 FGColumnVector3 vPQRdot;
140 FGColumnVector3 vPQRdot_prev[4];
141 FGColumnVector3 vMoments;
142 FGColumnVector3 vEuler;
143 FGColumnVector3 vEulerRates;
149 double Ixx, Iyy, Izz, Ixz;
154 void Debug(int from);
157 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%