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 SG_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 DEFINITIONS
  66 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  67
  68 #define ID_STATE "$Id$"
  69
  70 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  71 FORWARD DECLARATIONS
  72 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  73
  74 class FGAircraft;
  75 class FGTranslation;
  76 class FGRotation;
  77 class FGAtmosphere;
  78 class FGOutput;
  79 class FGPosition;
  80
  81 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  82 COMMENTS, REFERENCES, and NOTES [use "class documentation" below for API docs]
  83 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  84
  85 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  86 CLASS DOCUMENTATION
  87 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  88
  89 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  90 CLASS DECLARATION
  91 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  92
  93 class FGFDMExec;
  94
  95 class FGState {
  96 public:
  97   FGState(FGFDMExec*);
  98   ~FGState();
  99
 100   enum {ePhi=1, eTht, ePsi};
 101   enum {eP=1, eQ, eR};
 102   enum {eU=1, eV, eW};
 103   enum {eDrag=1, eSide, eLift};
 104
 105   bool Reset(string, string, string);
 106   void Initialize(float, float, float, float, float, float, float, float, float);
 107   void Initialize(FGInitialCondition *FGIC);
 108   bool StoreData(string);
 109
 110   inline float Geta(void) { return a; }
 111
 112   inline float Getsim_time(void) { return sim_time; }
 113   inline float Getdt(void) { return dt; }
 114
 115   inline void Suspend(void) {saved_dt = dt; dt = 0.0;}
 116   inline void Resume(void)  {dt = saved_dt;}
 117
 118   float GetParameter(eParam val_idx);
 119   float GetParameter(string val_string);
 120   eParam GetParameterIndex(string val_string);
 121
 122   inline void Seta(float tt) { a = tt; }
 123
 124   inline float Setsim_time(float tt) {
 125     sim_time = tt;
 126     return sim_time;
 127   }
 128   inline void  Setdt(float tt) { dt = tt; }
 129
 130   void SetParameter(eParam, float);
 131
 132   inline float IncrTime(void) {
 133     sim_time+=dt;
 134     return sim_time;
 135   }
 136   void InitMatrices(float phi, float tht, float psi);
 137   void CalcMatrices(void);
 138   void IntegrateQuat(FGColumnVector vPQR, int rate);
 139   FGColumnVector CalcEuler(void);
 140   FGMatrix GetTs2b(float alpha, float beta);
 141   FGMatrix GetTl2b(void) { return mTl2b; }
 142   float GetTl2b(int i, int j) { return mTl2b(i,j);}
 143   FGMatrix GetTb2l(void) { return mTb2l; }
 144   float GetTb2l(int i, int j) { return mTb2l(i,j);}
 145   typedef map<eParam, string> ParamMap;
 146   ParamMap paramdef;
 147
 148 private:
 149
 150   float a;                          // speed of sound
 151   float sim_time, dt;
 152   float saved_dt;
 153
 154   FGFDMExec* FDMExec;
 155   FGMatrix mTb2l;
 156   FGMatrix mTl2b;
 157   FGMatrix mTs2b;
 158   FGColumnVector vQtrn;
 159   FGColumnVector vlastQdot;
 160
 161   FGAircraft* Aircraft;
 162   FGPosition* Position;
 163   FGTranslation* Translation;
 164   FGRotation* Rotation;
 165   FGOutput* Output;
 166   FGAtmosphere* Atmosphere;
 167   FGFCS* FCS;
 168   FGAerodynamics* Aerodynamics;
 169
 170   typedef map<string, eParam> CoeffMap;
 171   CoeffMap coeffdef;
 172   void Debug(void);
 173   int ActiveEngine;
 174
 175   FGColumnVector vQdot;
 176   FGColumnVector vTmp;
 177   FGColumnVector vEuler;
 178 };
 179
 180 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 181
 182 #include "FGFDMExec.h"
 183 #include "FGAtmosphere.h"
 184 #include "FGFCS.h"
 185 #include "FGTranslation.h"
 186 #include "FGRotation.h"
 187 #include "FGPosition.h"
 188 #include "FGAerodynamics.h"
 189 #include "FGOutput.h"
 190 #include "FGAircraft.h"
 191
 192 #endif
 193