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.
26 FUNCTIONAL DESCRIPTION
27 --------------------------------------------------------------------------------
29 Based on Flightgear code, which is based on LaRCSim. This class wraps all
30 global state variables (such as velocity, position, orientation, etc.).
33 --------------------------------------------------------------------------------
36 ********************************************************************************
38 *******************************************************************************/
43 /*******************************************************************************
45 *******************************************************************************/
48 # include <simgear/compiler.h>
49 # ifdef FG_HAVE_STD_INCLUDES
61 #include "FGInitialCondition.h"
64 /*******************************************************************************
66 *******************************************************************************/
68 /*******************************************************************************
70 *******************************************************************************/
79 bool Reset(string, string, string);
80 void Initialize(float, float, float, float, float, float, float, float, float);
81 void Initialize(FGInitialCondition *FGIC);
82 bool StoreData(string);
84 inline float Getadot(void) { return adot; }
85 inline float Getbdot(void) { return bdot; }
87 inline float Geta(void) { return a; }
89 inline float Getsim_time(void) { return sim_time; }
90 inline float Getdt(void) { return dt; }
92 float GetParameter(int val_idx);
93 float GetParameter(string val_string);
94 int GetParameterIndex(string val_string);
96 inline void Setadot(float tt) { adot = tt; }
97 inline void Setbdot(float tt) { bdot = tt; }
99 inline void Seta(float tt) { a = tt; }
101 inline float Setsim_time(float tt) {
105 inline void Setdt(float tt) { dt = tt; }
107 void SetParameter(int, float);
109 inline float IncrTime(void) {
113 void InitMatrices(float phi, float tht, float psi);
114 void CalcMatrices(void);
115 void IntegrateQuat(FGColumnVector vPQR, int rate);
116 FGColumnVector CalcEuler(void);
117 FGMatrix GetTs2b(float alpha, float beta);
118 FGMatrix GetTl2b(void) { return mTl2b; }
119 FGMatrix GetTb2l(void) { return mTb2l; }
123 float adot, bdot; // alpha dot and beta dot
124 float a; // speed of sound
131 FGColumnVector vQtrn;
133 typedef map<string, long> CoeffMap;
137 enum {ePhi=1, eTht, ePsi};
141 /******************************************************************************/