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 Lesser 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 Lesser General Public License for more
  17  details.
  18
  19  You should have received a copy of the GNU Lesser 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 Lesser 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 <initialization/FGInitialCondition.h>
  63 #include <math/FGMatrix33.h>
  64 #include <math/FGColumnVector3.h>
  65 #include <math/FGQuaternion.h>
  66 #include "FGFDMExec.h"
  67 #include <models/FGAtmosphere.h>
  68 #include <models/FGFCS.h>
  69 #include <models/FGPropagate.h>
  70 #include <models/FGAuxiliary.h>
  71 #include <models/FGAerodynamics.h>
  72 #include <models/FGAircraft.h>
  73 #include <models/FGGroundReactions.h>
  74 #include <models/FGPropulsion.h>
  75
  76 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  77 DEFINITIONS
  78 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  79
  80 #define ID_STATE "$Id$"
  81
  82 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  83 FORWARD DECLARATIONS
  84 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  85
  86 namespace JSBSim {
  87
  88 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  89 CLASS DOCUMENTATION
  90 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  91
  92 /** Encapsulates the calculation of aircraft state.
  93     <h3>Properties</h3>
  94     @property sim-time-sec (read only) cumulative simulation in seconds.
  95     @author Jon S. Berndt
  96     @version $Revision$
  97 */
  98
  99 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 100 CLASS DECLARATION
 101 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 102
 103 class FGState : public FGJSBBase
 104 {
 105 public:
 106   /** Constructor
 107       @param Executive a pointer to the parent executive object */
 108   FGState(FGFDMExec*);
 109   /// Destructor
 110   ~FGState();
 111
 112   /** Initializes the simulation state based on parameters from an Initial Conditions object.
 113       @param FGIC pointer to an initial conditions object.
 114       @see FGInitialConditions.    */
 115   void Initialize(FGInitialCondition *FGIC);
 116
 117   /// Returns the cumulative simulation time in seconds.
 118   inline double Getsim_time(void) const { return sim_time; }
 119
 120   /// Returns the simulation delta T.
 121   inline double Getdt(void) {return dt;}
 122
 123   /// Suspends the simulation and sets the delta T to zero.
 124   inline void SuspendIntegration(void) {saved_dt = dt; dt = 0.0;}
 125
 126   /// Resumes the simulation by resetting delta T to the correct value.
 127   inline void ResumeIntegration(void)  {dt = saved_dt;}
 128
 129   /** Returns the simulation suspension state.
 130       @return true if suspended, false if executing  */
 131   bool IntegrationSuspended(void) {return dt == 0.0;}
 132
 133   /** Sets the current sim time.
 134       @param cur_time the current time
 135       @return the current simulation time.      */
 136   inline double Setsim_time(double cur_time) {
 137     sim_time = cur_time;
 138     return sim_time;
 139   }
 140
 141   /** Sets the integration time step for the simulation executive.
 142       @param delta_t the time step in seconds.     */
 143   inline void  Setdt(double delta_t) { dt = delta_t; }
 144
 145   /** Increments the simulation time.
 146       @return the new simulation time.     */
 147   inline double IncrTime(void) {
 148     sim_time+=dt;
 149     return sim_time;
 150   }
 151
 152   /** Calculates and returns the stability-to-body axis transformation matrix.
 153       @return a reference to the stability-to-body transformation matrix.
 154       */
 155   FGMatrix33& GetTs2b(void);
 156
 157   /** Calculates and returns the body-to-stability axis transformation matrix.
 158       @return a reference to the stability-to-body transformation matrix.
 159       */
 160   FGMatrix33& GetTb2s(void);
 161
 162   /** Prints a summary of simulator state (speed, altitude,
 163       configuration, etc.)  */
 164   void ReportState(void);
 165
 166 private:
 167   double sim_time, dt;
 168   double saved_dt;
 169
 170   FGFDMExec* FDMExec;
 171   FGMatrix33 mTs2b;
 172   FGMatrix33 mTb2s;
 173
 174   FGAircraft* Aircraft;
 175   FGPropagate* Propagate;
 176   FGAtmosphere* Atmosphere;
 177   FGFCS* FCS;
 178   FGAerodynamics* Aerodynamics;
 179   FGGroundReactions* GroundReactions;
 180   FGPropulsion* Propulsion;
 181   FGAuxiliary* Auxiliary;
 182   FGPropertyManager* PropertyManager;
 183
 184   void bind();
 185   void unbind();
 186
 187   void Debug(int from);
 188 };
 189 }
 190 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 191
 192
 193 #endif
 194