src/FDM/JSBSim/models/FGInertial.h

   1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
   2
   3  Header:       FGInertial.h
   4  Author:       Jon S. Berndt
   5  Date started: 09/13/00
   6
   7  ------------- Copyright (C) 1999  Jon S. Berndt (jon@jsbsim.org) -------------
   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 09/13/00   JSB   Created
  29
  30 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  31 SENTRY
  32 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  33
  34 #ifndef FGINERTIAL_H
  35 #define FGINERTIAL_H
  36
  37 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  38 INCLUDES
  39 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  40
  41 #include <vector>
  42
  43 #include "FGModel.h"
  44 #include "math/FGColumnVector3.h"
  45
  46 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  47 DEFINITIONS
  48 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  49
  50 #define ID_INERTIAL "$Id: FGInertial.h,v 1.15 2010/01/27 04:01:09 jberndt Exp $"
  51
  52 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  53 FORWARD DECLARATIONS
  54 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  55
  56 namespace JSBSim {
  57
  58 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  59 CLASS DOCUMENTATION
  60 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  61
  62 /** Models inertial forces (e.g. centripetal and coriolis accelerations). Starting
  63     conversion to WGS84.
  64   */
  65
  66 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  67 CLASS DECLARATION
  68 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  69
  70 class FGInertial : public FGModel {
  71
  72 public:
  73   FGInertial(FGFDMExec*);
  74   ~FGInertial(void);
  75
  76   bool InitModel(void);
  77
  78   bool Run(void);
  79   double SLgravity(void) const {return gAccelReference;}
  80   double gravity(void) const {return gAccel;}
  81   double omega(void) const {return RotationRate;}
  82   double GetEarthPositionAngle(void) const { return earthPosAngle; }
  83   double GetEarthPositionAngleDeg(void) const { return earthPosAngle*radtodeg;}
  84   double GetGAccel(double r) const;
  85   FGColumnVector3 GetGravityJ2(FGColumnVector3 position) const;
  86   double GetRefRadius(void) const {return RadiusReference;}
  87   double GetSemimajor(void) const {return a;}
  88   double GetSemiminor(void) const {return b;}
  89
  90   void SetEarthPositionAngle(double epa) {earthPosAngle = epa;}
  91
  92 private:
  93   double gAccel;
  94   double gAccelReference;
  95   double RadiusReference;
  96   double RotationRate;
  97   double earthPosAngle;
  98   double GM;
  99   double C2_0; // WGS84 value for the C2,0 coefficient
 100   double J2;   // WGS84 value for J2
 101   double a;    // WGS84 semimajor axis length in feet
 102   double b;    // WGS84 semiminor axis length in feet
 103
 104   void bind(void);
 105   void Debug(int from);
 106 };
 107 }
 108 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 109 #endif