src/FDM/JSBSim/filtersjb/FGFilter.h

   1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
   2
   3  Header:       FGFilter.h
   4  Author:       Jon S. Berndt
   5  Date started: 4/2000
   6
   7  ------------- Copyright (C)  -------------
   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 HISTORY
  27 --------------------------------------------------------------------------------
  28
  29 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  30 SENTRY
  31 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  32
  33 #ifndef FGFILTER_H
  34 #define FGFILTER_H
  35
  36 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  37 INCLUDES
  38 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  39
  40 #include "FGFCSComponent.h"
  41 #include "../FGConfigFile.h"
  42
  43 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  44 DEFINITIONS
  45 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  46
  47 #define ID_FILTER "$Id$"
  48
  49 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  50 FORWARD DECLARATIONS
  51 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  52
  53 namespace JSBSim {
  54
  55 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  56 COMMENTS, REFERENCES, and NOTES [use "class documentation" below for API docs]
  57 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  58
  59 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  60 CLASS DOCUMENTATION
  61 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  62
  63 /** Encapsulates a filter for the flight control system.
  64     Filters are modeled using the Tustin Substitution method. These types of
  65     filters can currently be modeled:
  66
  67     - Lag
  68     - Lead-Lag
  69     - Washout
  70     - Integrator
  71     - Second order
  72
  73     The filter is specified in the config file like this:
  74     <pre>
  75     \<COMPONENT NAME="{name}" TYPE="{LAG_FILTER}"\><BR>
  76       INPUT        15<BR>
  77       C1           600<BR>
  78       OUTPUT       fcs/elevator-pos-rad<BR>
  79     \</COMPONENT\>
  80     </pre>
  81     @author Jon S. Berndt
  82     @version $Id$
  83     @see <a href="http://cvs.sourceforge.net/cgi-bin/viewcvs.cgi/jsbsim/JSBSim/FGFilter.h?rev=HEAD">
  84          Header File </a>
  85     @see <a href="http://cvs.sourceforge.net/cgi-bin/viewcvs.cgi/jsbsim/JSBSim/FGFilter.cpp?rev=HEAD">
  86          Source File </a>
  87     */
  88
  89 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  90 CLASS DECLARATION
  91 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  92
  93 class FGFilter  : public FGFCSComponent
  94 {
  95 public:
  96   FGFilter(FGFCS* fcs, FGConfigFile* AC_cfg);
  97   ~FGFilter();
  98
  99   bool Run (void);
 100
 101   /** When true, causes previous values to be set to current values. This
 102       is particularly useful for first pass. */
 103   bool Initialize;
 104
 105   enum {eLag, eLeadLag, eOrder2, eWashout, eIntegrator, eUnknown} FilterType;
 106
 107 private:
 108   double dt;
 109   double ca;
 110   double cb;
 111   double cc;
 112   double cd;
 113   double ce;
 114   double C1;
 115   double C2;
 116   double C3;
 117   double C4;
 118   double C5;
 119   double C6;
 120   double PreviousInput1;
 121   double PreviousInput2;
 122   double PreviousOutput1;
 123   double PreviousOutput2;
 124   FGConfigFile* AC_cfg;
 125   void Debug(int from);
 126 };
 127 }
 128 #endif
 129