1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
7 ------------- Copyright (C) 1999 Jon S. Berndt (jon@jsbsim.org) -------------
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
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
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.
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.
27 --------------------------------------------------------------------------------
30 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
32 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
37 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
39 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
44 #include <input_output/FGXMLElement.h>
45 #include <math/FGColumnVector3.h>
47 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
49 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
51 #define ID_AIRCRAFT "$Id$"
53 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
55 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
59 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
61 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
63 /** Encapsulates an Aircraft and its systems.
64 <p> Owns all the parts (other classes) which make up this aircraft. This includes
65 the Engines, Tanks, Propellers, Nozzles, Aerodynamic and Mass properties,
66 landing gear, etc. These constituent parts may actually run as separate
67 JSBSim models themselves, but the responsibility for initializing them and
68 for retrieving their force and moment contributions falls to FGAircraft.
69 <p> The \<metrics> section of the aircraft configuration file is read here, and
70 the metrical information is held by this class.
71 <h3>Configuration File Format for \<metrics> Section:</h3>
74 <wingarea unit="{FT2 | M2}"> {number} </wingarea>
75 <wingspan unit="{FT | M}"> {number} </wingspan>
76 <chord unit="{FT | M}"> {number} </chord>
77 <htailarea unit="{FT2 | M2}"> {number} </htailarea>
78 <htailarm unit="{FT | M}"> {number} </htailarm>
79 <vtailarea unit="{FT2 | M}"> {number} </vtailarea>
80 <vtailarm unit="{FT | M}"> {number} </vtailarm>
81 <wing_incidence unit="{RAD | DEG}"> {number} </wing_incidence>
82 <location name="{AERORP | EYEPOINT | VRP}" unit="{IN | M}">
87 {other location blocks}
93 @see Cooke, Zyda, Pratt, and McGhee, "NPSNET: Flight Simulation Dynamic Modeling
94 Using Quaternions", Presence, Vol. 1, No. 4, pp. 404-420 Naval Postgraduate
96 @see D. M. Henderson, "Euler Angles, Quaternions, and Transformation Matrices",
98 @see Richard E. McFarland, "A Standard Kinematic Model for Flight Simulation at
99 NASA-Ames", NASA CR-2497, January 1975
100 @see Barnes W. McCormick, "Aerodynamics, Aeronautics, and Flight Mechanics",
101 Wiley & Sons, 1979 ISBN 0-471-03032-5
102 @see Bernard Etkin, "Dynamics of Flight, Stability and Control", Wiley & Sons,
103 1982 ISBN 0-471-08936-2
106 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
108 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
110 class FGAircraft : public FGModel {
113 @param Executive a pointer to the parent executive object */
114 FGAircraft(FGFDMExec *Executive);
119 /** Runs the Aircraft model; called by the Executive
120 @see JSBSim.cpp documentation
121 @return false if no error */
124 bool InitModel(void);
126 /** Loads the aircraft.
127 The executive calls this method to load the aircraft into JSBSim.
128 @param el a pointer to the element tree
129 @return true if successful */
130 bool Load(Element* el);
132 /** Gets the aircraft name
133 @return the name of the aircraft as a string type */
134 inline string GetAircraftName(void) { return AircraftName; }
136 /// Gets the wing area
137 double GetWingArea(void) const { return WingArea; }
138 /// Gets the wing span
139 double GetWingSpan(void) const { return WingSpan; }
140 /// Gets the average wing chord
141 double Getcbar(void) const { return cbar; }
142 inline double GetWingIncidence(void) const { return WingIncidence; }
143 inline double GetWingIncidenceDeg(void) const { return WingIncidence*radtodeg; }
144 inline double GetHTailArea(void) const { return HTailArea; }
145 inline double GetHTailArm(void) const { return HTailArm; }
146 inline double GetVTailArea(void) const { return VTailArea; }
147 inline double GetVTailArm(void) const { return VTailArm; }
148 inline double Getlbarh(void) const { return lbarh; } // HTailArm / cbar
149 inline double Getlbarv(void) const { return lbarv; } // VTailArm / cbar
150 inline double Getvbarh(void) const { return vbarh; } // H. Tail Volume
151 inline double Getvbarv(void) const { return vbarv; } // V. Tail Volume
152 inline FGColumnVector3& GetMoments(void) { return vMoments; }
153 inline double GetMoments(int idx) const { return vMoments(idx); }
154 inline FGColumnVector3& GetForces(void) { return vForces; }
155 inline double GetForces(int idx) const { return vForces(idx); }
156 inline FGColumnVector3& GetBodyAccel(void) { return vBodyAccel; }
157 inline double GetBodyAccel(int idx) { return vBodyAccel(idx); }
158 inline FGColumnVector3& GetNcg (void) { return vNcg; }
159 inline double GetNcg(int idx) { return vNcg(idx); }
160 inline FGColumnVector3& GetXYZrp(void) { return vXYZrp; }
161 inline FGColumnVector3& GetXYZvrp(void) { return vXYZvrp; }
162 inline FGColumnVector3& GetXYZep(void) { return vXYZep; }
163 inline double GetXYZrp(int idx) const { return vXYZrp(idx); }
164 inline double GetXYZvrp(int idx) const { return vXYZvrp(idx); }
165 inline double GetXYZep(int idx) const { return vXYZep(idx); }
166 inline void SetAircraftName(string name) {AircraftName = name;}
167 inline void SetHoldDown(int hd) {HoldDown = hd;}
168 inline int GetHoldDown(void) const {return HoldDown;}
170 void SetXYZrp(int idx, double value) {vXYZrp(idx) = value;}
172 void SetWingArea(double S) {WingArea = S;}
174 double GetNlf(void) const;
176 inline FGColumnVector3& GetNwcg(void) { return vNwcg; }
182 FGColumnVector3 vMoments;
183 FGColumnVector3 vForces;
184 FGColumnVector3 vXYZrp;
185 FGColumnVector3 vXYZvrp;
186 FGColumnVector3 vXYZep;
187 FGColumnVector3 vDXYZcg;
188 FGColumnVector3 vBodyAccel;
189 FGColumnVector3 vNcg;
190 FGColumnVector3 vNwcg;
192 double WingArea, WingSpan, cbar, WingIncidence;
193 double HTailArea, VTailArea, HTailArm, VTailArm;
194 double lbarh,lbarv,vbarh,vbarv;
198 void Debug(int from);
201 } // namespace JSBSim
202 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%