src/FDM/JSBSim/FGState.h

   1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
   2
   3  Header:       FGState.h
   4  Author:       Jon S. Berndt
   5  Date started: 11/17/98
   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 FUNCTIONAL DESCRIPTION
  27 --------------------------------------------------------------------------------
  28
  29 Based on Flightgear code, which is based on LaRCSim. This class wraps all
  30 global state variables (such as velocity, position, orientation, etc.).
  31
  32 HISTORY
  33 --------------------------------------------------------------------------------
  34 11/17/98   JSB   Created
  35
  36 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  37 SENTRY
  38 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  39
  40 #ifndef FGSTATE_H
  41 #define FGSTATE_H
  42
  43 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  44 INCLUDES
  45 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  46
  47 #ifdef FGFS
  48 #  include <simgear/compiler.h>
  49 #  ifdef FG_HAVE_STD_INCLUDES
  50 #    include <fstream>
  51 #  else
  52 #    include <fstream.h>
  53 #  endif
  54 #else
  55 #  include <fstream>
  56 #endif
  57
  58 #include <string>
  59 #include <map>
  60 #include "FGDefs.h"
  61 #include "FGInitialCondition.h"
  62 #include "FGMatrix.h"
  63
  64 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  65 DEFINES
  66 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  67
  68 #define ID_STATE "$Id$"
  69
  70 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  71 CLASS DECLARATION
  72 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  73
  74 class FGFDMExec;
  75
  76 class FGState {
  77 public:
  78   FGState(FGFDMExec*);
  79   ~FGState();
  80
  81   bool Reset(string, string, string);
  82   void Initialize(float, float, float, float, float, float, float, float, float);
  83   void Initialize(FGInitialCondition *FGIC);
  84   bool StoreData(string);
  85
  86   inline float Geta(void) { return a; }
  87
  88   inline float Getsim_time(void) { return sim_time; }
  89   inline float Getdt(void) { return dt; }
  90
  91   inline void Suspend(void) {saved_dt = dt; dt = 0.0;}
  92   inline void Resume(void)  {dt = saved_dt;}
  93
  94   float GetParameter(eParam val_idx);
  95   float GetParameter(string val_string);
  96   eParam GetParameterIndex(string val_string);
  97
  98   inline void Seta(float tt) { a = tt; }
  99
 100   inline float Setsim_time(float tt) {
 101     sim_time = tt;
 102     return sim_time;
 103   }
 104   inline void  Setdt(float tt) { dt = tt; }
 105
 106   void SetParameter(eParam, float);
 107
 108   inline float IncrTime(void) {
 109     sim_time+=dt;
 110     return sim_time;
 111   }
 112   void InitMatrices(float phi, float tht, float psi);
 113   void CalcMatrices(void);
 114   void IntegrateQuat(FGColumnVector vPQR, int rate);
 115   FGColumnVector CalcEuler(void);
 116   FGMatrix GetTs2b(float alpha, float beta);
 117   FGMatrix GetTl2b(void) { return mTl2b; }
 118   FGMatrix GetTb2l(void) { return mTb2l; }
 119   typedef map<eParam, string> ParamMap;
 120   ParamMap paramdef;
 121
 122 private:
 123
 124   float a;                          // speed of sound
 125   float sim_time, dt;
 126   float saved_dt;
 127
 128   FGFDMExec* FDMExec;
 129   FGMatrix mTb2l;
 130   FGMatrix mTl2b;
 131   FGMatrix mTs2b;
 132   FGColumnVector vQtrn;
 133   FGColumnVector vlastQdot;
 134
 135   typedef map<string, eParam> CoeffMap;
 136   CoeffMap coeffdef;
 137   void Debug(void);
 138   int ActiveEngine;
 139
 140 protected:
 141   enum {ePhi=1, eTht, ePsi};
 142   enum {eP=1, eQ, eR};
 143 };
 144
 145 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 146 #endif
 147