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