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 "simgear/structure/SGReferenced.hxx"
  42 #include "simgear/structure/SGSharedPtr.hxx"
  43
  44 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  45 DEFINITIONS
  46 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  47
  48 #define ID_GROUNDCALLBACK "$Id: FGGroundCallback.h,v 1.16 2013/02/02 13:23:40 bcoconni Exp $"
  49
  50 namespace JSBSim {
  51
  52 class FGLocation;
  53 class FGColumnVector3;
  54
  55 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  56 CLASS DOCUMENTATION
  57 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  58
  59 /** This class provides callback slots to get ground specific data.
  60
  61     The default implementation returns values for a
  62     ball formed earth with an adjustable terrain elevation.
  63
  64     @author Mathias Froehlich
  65     @version $Id: FGGroundCallback.h,v 1.16 2013/02/02 13:23:40 bcoconni Exp $
  66 */
  67
  68 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  69 CLASS DECLARATION
  70 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  71
  72 class FGGroundCallback : public SGReferenced
  73 {
  74 public:
  75
  76   FGGroundCallback() {}
  77   virtual ~FGGroundCallback() {}
  78
  79   /** Compute the altitude above sealevel
  80       @param l location
  81    */
  82   virtual double GetAltitude(const FGLocation& l) const = 0;
  83
  84   /** Compute the altitude above ground.
  85       The altitude depends on time t and location l.
  86       @param t simulation time
  87       @param l location
  88       @param contact Contact point location below the location l
  89       @param normal Normal vector at the contact point
  90       @param v Linear velocity at the contact point
  91       @param w Angular velocity at the contact point
  92       @return altitude above ground
  93    */
  94   virtual double GetAGLevel(double t, const FGLocation& location,
  95                             FGLocation& contact,
  96                             FGColumnVector3& normal, FGColumnVector3& v,
  97                             FGColumnVector3& w) const = 0;
  98
  99   /** Compute the local terrain radius
 100       @param t simulation time
 101       @param location location
 102    */
 103   virtual double GetTerrainGeoCentRadius(double t, const FGLocation& location) const = 0;
 104
 105   /** Return the sea level radius
 106       @param t simulation time
 107       @param location location
 108    */
 109   virtual double GetSeaLevelRadius(const FGLocation& location) const = 0;
 110
 111   /** Set the local terrain radius.
 112       Only needs to be implemented if JSBSim should be allowed
 113       to modify the local terrain radius (see the default implementation)
 114    */
 115   virtual void SetTerrainGeoCentRadius(double radius)  { }
 116
 117   /** Set the sea level radius.
 118       Only needs to be implemented if JSBSim should be allowed
 119       to modify the sea level radius (see the default implementation)
 120    */
 121   virtual void SetSeaLevelRadius(double radius) {  }
 122
 123 };
 124
 125 typedef SGSharedPtr<FGGroundCallback> FGGroundCallback_ptr;
 126
 127 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 128 // The default sphere earth implementation:
 129 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 130
 131 class FGDefaultGroundCallback : public FGGroundCallback
 132 {
 133 public:
 134
 135    FGDefaultGroundCallback(double referenceRadius = 20925650.0);
 136
 137    double GetAltitude(const FGLocation& l) const;
 138
 139    double GetAGLevel(double t, const FGLocation& location,
 140                      FGLocation& contact,
 141                      FGColumnVector3& normal, FGColumnVector3& v,
 142                      FGColumnVector3& w) const;
 143
 144    void SetTerrainGeoCentRadius(double radius)  {  mTerrainLevelRadius = radius;}
 145    double GetTerrainGeoCentRadius(double t, const FGLocation& location) const
 146    { return mTerrainLevelRadius; }
 147
 148    void SetSeaLevelRadius(double radius) { mSeaLevelRadius = radius;   }
 149    double GetSeaLevelRadius(const FGLocation& location) const
 150    {return mSeaLevelRadius; }
 151
 152 private:
 153
 154    double mSeaLevelRadius;
 155    double mTerrainLevelRadius;
 156 };
 157
 158
 159 }
 160 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 161 #endif