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 <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     @author Jon S. Berndt
  94     @version $Id$
  95 */
  96
  97 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  98 CLASS DECLARATION
  99 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 100
 101 class FGState : public FGJSBBase
 102 {
 103 public:
 104   /** Constructor
 105       @param Executive a pointer to the parent executive object */
 106   FGState(FGFDMExec*);
 107   /// Destructor
 108   ~FGState();
 109
 110   /** Initializes the simulation state based on parameters from an Initial Conditions object.
 111       @param FGIC pointer to an initial conditions object.
 112       @see FGInitialConditions.
 113       */
 114   void Initialize(FGInitialCondition *FGIC);
 115
 116   /// Returns the simulation time in seconds.
 117   inline double Getsim_time(void) const { return sim_time; }
 118   /// Returns the simulation delta T.
 119   inline double Getdt(void) {
 120     return dt;
 121   }
 122
 123   /// Suspends the simulation and sets the delta T to zero.
 124   inline void SuspendIntegration(void) {saved_dt = dt; dt = 0.0;}
 125   /// Resumes the simulation by resetting delta T to the correct value.
 126   inline void ResumeIntegration(void)  {dt = saved_dt;}
 127
 128   bool IntegrationSuspended(void) {return dt == 0.0;}
 129
 130   /** Sets the current sim time.
 131       @param cur_time the current time
 132       @return the current time.
 133       */
 134   inline double Setsim_time(double cur_time) {
 135     sim_time = cur_time;
 136     return sim_time;
 137   }
 138
 139   /** Sets the integration time step for the simulation executive.
 140       @param delta_t the time step in seconds.
 141       */
 142   inline void  Setdt(double delta_t) {
 143     dt = delta_t;
 144   }
 145
 146   /** Increments the simulation time.
 147       @return the new simulation time.
 148       */
 149   inline double IncrTime(void) {
 150     sim_time+=dt;
 151     return sim_time;
 152   }
 153
 154   /** Calculates and returns the stability-to-body axis transformation matrix.
 155       @return a reference to the stability-to-body transformation matrix.
 156       */
 157   FGMatrix33& GetTs2b(void);
 158
 159   /** Calculates and returns the body-to-stability axis transformation matrix.
 160       @return a reference to the stability-to-body transformation matrix.
 161       */
 162   FGMatrix33& GetTb2s(void);
 163
 164   /** Prints a summary of simulator state (speed, altitude,
 165       configuration, etc.)
 166   */
 167   void ReportState(void);
 168
 169   void bind();
 170   void unbind();
 171
 172 private:
 173   double sim_time, dt;
 174   double saved_dt;
 175
 176   FGFDMExec* FDMExec;
 177   FGMatrix33 mTs2b;
 178   FGMatrix33 mTb2s;
 179
 180   FGAircraft* Aircraft;
 181   FGPropagate* Propagate;
 182   FGAtmosphere* Atmosphere;
 183   FGFCS* FCS;
 184   FGAerodynamics* Aerodynamics;
 185   FGGroundReactions* GroundReactions;
 186   FGPropulsion* Propulsion;
 187   FGAuxiliary* Auxiliary;
 188   FGPropertyManager* PropertyManager;
 189
 190   void Debug(int from);
 191 };
 192 }
 193 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 194
 195
 196 #endif
 197