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 HISTORY
  30 --------------------------------------------------------------------------------
  31 11/17/98   JSB   Created
  32
  33 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  34 SENTRY
  35 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  36
  37 #ifndef FGSTATE_H
  38 #define FGSTATE_H
  39
  40 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  41 INCLUDES
  42 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  43
  44 #ifdef FGFS
  45 #  include <simgear/compiler.h>
  46 #  ifdef SG_HAVE_STD_INCLUDES
  47 #    include <fstream>
  48 #  else
  49 #    include <fstream.h>
  50 #  endif
  51 #else
  52 #  if defined(sgi) && !defined(__GNUC__) && (_COMPILER_VERSION < 740)
  53 #    include <fstream.h>
  54 #  else
  55 #    include <fstream>
  56 #  endif
  57 #endif
  58
  59 #include <string>
  60 #include <map>
  61 #include "FGJSBBase.h"
  62 #include "FGInitialCondition.h"
  63 #include "FGMatrix33.h"
  64 #include "FGColumnVector3.h"
  65 #include "FGQuaternion.h"
  66 #include "FGFDMExec.h"
  67 #include "FGAtmosphere.h"
  68 #include "FGFCS.h"
  69 #include "FGPropagate.h"
  70 #include "FGAuxiliary.h"
  71 #include "FGAerodynamics.h"
  72 #include "FGOutput.h"
  73 #include "FGAircraft.h"
  74 #include "FGGroundReactions.h"
  75 #include "FGPropulsion.h"
  76
  77 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  78 DEFINITIONS
  79 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  80
  81 #define ID_STATE "$Id$"
  82
  83 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  84 FORWARD DECLARATIONS
  85 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  86
  87 namespace JSBSim {
  88
  89 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  90 CLASS DOCUMENTATION
  91 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  92
  93 /** Encapsulates the calculation of aircraft state.
  94     @author Jon S. Berndt
  95     @version $Id$
  96 */
  97
  98 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  99 CLASS DECLARATION
 100 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 101
 102 class FGState : public FGJSBBase
 103 {
 104 public:
 105   /** Constructor
 106       @param Executive a pointer to the parent executive object */
 107   FGState(FGFDMExec*);
 108   /// Destructor
 109   ~FGState();
 110
 111   /** Initializes the simulation state based on parameters from an Initial Conditions object.
 112       @param FGIC pointer to an initial conditions object.
 113       @see FGInitialConditions.
 114       */
 115   void Initialize(FGInitialCondition *FGIC);
 116
 117   /// Returns the simulation time in seconds.
 118   inline double Getsim_time(void) const { return sim_time; }
 119   /// Returns the simulation delta T.
 120   inline double Getdt(void) { return dt; }
 121
 122   /// Suspends the simulation and sets the delta T to zero.
 123   inline void Suspend(void) {saved_dt = dt; dt = 0.0;}
 124   /// Resumes the simulation by resetting delta T to the correct value.
 125   inline void Resume(void)  {dt = saved_dt;}
 126
 127   /** Sets the current sim time.
 128       @param cur_time the current time
 129       @return the current time.
 130       */
 131   inline double Setsim_time(double cur_time) {
 132     sim_time = cur_time;
 133     return sim_time;
 134   }
 135
 136   /** Sets the integration time step for the simulation executive.
 137       @param delta_t the time step in seconds.
 138       */
 139   inline void  Setdt(double delta_t) { dt = delta_t; }
 140
 141   /** Increments the simulation time.
 142       @return the new simulation time.
 143       */
 144   inline double IncrTime(void) {
 145     sim_time+=dt;
 146     return sim_time;
 147   }
 148
 149   /** Calculates and returns the stability-to-body axis transformation matrix.
 150       @return a reference to the stability-to-body transformation matrix.
 151       */
 152   FGMatrix33& GetTs2b(void);
 153
 154   /** Calculates and returns the body-to-stability axis transformation matrix.
 155       @return a reference to the stability-to-body transformation matrix.
 156       */
 157   FGMatrix33& GetTb2s(void);
 158
 159   /** Prints a summary of simulator state (speed, altitude,
 160       configuration, etc.)
 161   */
 162   void ReportState(void);
 163
 164   void bind();
 165   void unbind();
 166
 167 private:
 168   double sim_time, dt;
 169   double saved_dt;
 170
 171   FGFDMExec* FDMExec;
 172   FGMatrix33 mTs2b;
 173   FGMatrix33 mTb2s;
 174
 175   FGAircraft* Aircraft;
 176   FGPropagate* Propagate;
 177   FGOutput* Output;
 178   FGAtmosphere* Atmosphere;
 179   FGFCS* FCS;
 180   FGAerodynamics* Aerodynamics;
 181   FGGroundReactions* GroundReactions;
 182   FGPropulsion* Propulsion;
 183   FGAuxiliary* Auxiliary;
 184   FGPropertyManager* PropertyManager;
 185
 186   void Debug(int from);
 187 };
 188 }
 189 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 190
 191
 192 #endif
 193