src/FDM/JSBSim/input_output/FGGroundCallback.h

   1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
   2
   3  Header:       FGGroundCallback.h
   4  Author:       Mathias Froehlich
   5  Date started: 05/21/04
   6
   7  ------ Copyright (C) 2004 Mathias Froehlich (Mathias.Froehlich@web.de) -------
   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 HISTORY
  27 -------------------------------------------------------------------------------
  28 05/21/00   MF   Created
  29
  30 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  31 SENTRY
  32 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  33
  34 #ifndef FGGROUNDCALLBACK_H
  35 #define FGGROUNDCALLBACK_H
  36
  37 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  38 INCLUDES
  39 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  40
  41 #include "math/FGColumnVector3.h"
  42 #include "math/FGLocation.h"
  43
  44 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  45 DEFINITIONS
  46 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  47
  48 #define ID_GROUNDCALLBACK "$Id: FGGroundCallback.h,v 1.12 2011/10/14 22:46:49 bcoconni Exp $"
  49
  50 namespace JSBSim {
  51
  52 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  53 CLASS DOCUMENTATION
  54 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  55
  56 /** This class provides callback slots to get ground specific data.
  57
  58     The default implementation returns values for a
  59     ball formed earth with an adjustable terrain elevation.
  60
  61     @author Mathias Froehlich
  62     @version $Id: FGGroundCallback.h,v 1.12 2011/10/14 22:46:49 bcoconni Exp $
  63 */
  64
  65 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  66 CLASS DECLARATION
  67 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  68
  69 class FGGroundCallback : public FGJSBBase
  70 {
  71 public:
  72
  73   FGGroundCallback() {}
  74   virtual ~FGGroundCallback() {}
  75
  76   /** Compute the altitude above sealevel
  77       @param l location
  78    */
  79   virtual double GetAltitude(const FGLocation& l) const = 0;
  80
  81   /** Compute the altitude above ground.
  82       The altitude depends on time t and location l.
  83       @param t simulation time
  84       @param l location
  85       @param contact Contact point location below the location l
  86       @param normal Normal vector at the contact point
  87       @param v Linear velocity at the contact point
  88       @param w Angular velocity at the contact point
  89       @return altitude above ground
  90    */
  91   virtual double GetAGLevel(double t, const FGLocation& location,
  92                             FGLocation& contact,
  93                             FGColumnVector3& normal, FGColumnVector3& v,
  94                             FGColumnVector3& w) const = 0;
  95
  96   /** Compute the local terrain radius
  97       @param t simulation time
  98       @param location location
  99    */
 100   virtual double GetTerrainGeoCentRadius(double t, const FGLocation& location) const = 0;
 101
 102   /** Return the sea level radius
 103       @param t simulation time
 104       @param location location
 105    */
 106   virtual double GetSeaLevelRadius(const FGLocation& location) const = 0;
 107
 108   /** Set the local terrain radius.
 109       Only needs to be implemented if JSBSim should be allowed
 110       to modify the local terrain radius (see the default implementation)
 111    */
 112   virtual void SetTerrainGeoCentRadius(double radius)  { }
 113
 114   /** Set the sea level radius.
 115       Only needs to be implemented if JSBSim should be allowed
 116       to modify the sea level radius (see the default implementation)
 117    */
 118   virtual void SetSeaLevelRadius(double radius) {  }
 119
 120 };
 121
 122 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 123 // The default sphere earth implementation:
 124 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 125
 126 class FGDefaultGroundCallback : public FGGroundCallback
 127 {
 128 public:
 129
 130    FGDefaultGroundCallback(double referenceRadius = 20925650.0);
 131
 132    double GetAltitude(const FGLocation& l) const;
 133
 134    double GetAGLevel(double t, const FGLocation& location,
 135                      FGLocation& contact,
 136                      FGColumnVector3& normal, FGColumnVector3& v,
 137                      FGColumnVector3& w) const;
 138
 139    void SetTerrainGeoCentRadius(double radius)  {  mTerrainLevelRadius = radius;}
 140    double GetTerrainGeoCentRadius(double t, const FGLocation& location) const
 141    { return mTerrainLevelRadius; }
 142
 143    void SetSeaLevelRadius(double radius) { mSeaLevelRadius = radius;   }
 144    double GetSeaLevelRadius(const FGLocation& location) const
 145    {return mSeaLevelRadius; }
 146
 147 private:
 148
 149    double mSeaLevelRadius;
 150    double mTerrainLevelRadius;
 151 };
 152
 153
 154 }
 155 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 156 #endif