src/FDM/JSBSim/models/FGMassBalance.h

   1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
   2
   3  Header:       FGMassBalance.h
   4  Author:       Jon S. Berndt
   5  Date started: 09/12/2000
   6
   7  ------------- Copyright (C) 2000  Jon S. Berndt (jsb@hal-pc.org) --------------
   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 09/12/2000  JSB  Created
  29
  30 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  31 SENTRY
  32 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  33
  34 #ifndef FGMASSBALANCE_H
  35 #define FGMASSBALANCE_H
  36
  37 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  38 INCLUDES
  39 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  40
  41 #include "FGModel.h"
  42 #include <math/FGColumnVector3.h>
  43 #include <math/FGMatrix33.h>
  44 #include <input_output/FGXMLElement.h>
  45 #include <vector>
  46
  47 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  48 DEFINITIONS
  49 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  50
  51 #define ID_MASSBALANCE "$Id$"
  52
  53 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  54 FORWARD DECLARATIONSS
  55 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  56
  57 namespace JSBSim {
  58
  59 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  60 CLASS DOCUMENTATION
  61 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  62
  63 /** Models weight and balance information.
  64   */
  65
  66 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  67 CLASS DECLARATION
  68 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  69
  70 class FGMassBalance : public FGModel
  71 {
  72
  73 public:
  74   FGMassBalance(FGFDMExec*);
  75   ~FGMassBalance();
  76
  77   bool Load(Element* el);
  78
  79   bool Run(void);
  80
  81   inline double GetMass(void) const {return Mass;}
  82   inline double GetWeight(void) const {return Weight;}
  83   inline FGColumnVector3& GetXYZcg(void) {return vXYZcg;}
  84   inline double GetXYZcg(int axis) const  {return vXYZcg(axis);}
  85
  86   /** Computes the inertia contribution of a pointmass.
  87       Computes and returns the inertia matrix of a pointmass of mass
  88       slugs at the given vector r in the structural frame. The units
  89       should be for the mass in slug and the vector in the structural
  90       frame as usual in inches.
  91       @param slugs the mass of this single pointmass given in slugs
  92       @param r the location of this single pointmass in the structural frame
  93    */
  94   FGMatrix33 GetPointmassInertia(double slugs, const FGColumnVector3& r) const
  95   {
  96     FGColumnVector3 v = StructuralToBody( r );
  97     FGColumnVector3 sv = slugs*v;
  98     double xx = sv(1)*v(1);
  99     double yy = sv(2)*v(2);
 100     double zz = sv(3)*v(3);
 101     double xy = -sv(1)*v(2);
 102     double xz = -sv(1)*v(3);
 103     double yz = -sv(2)*v(3);
 104     return FGMatrix33( yy+zz, xy, xz,
 105                        xy, xx+zz, yz,
 106                        xz, yz, xx+yy );
 107   }
 108
 109   /** Conversion from the structural frame to the body frame.
 110       Converts the location given in the structural frame
 111       coordinate system to the body frame. The units of the structural
 112       frame are assumed to be in inches. The unit of the result is in
 113       ft.
 114       @param r vector coordinate in the structural reference frame (X positive
 115                aft, measurements in inches).
 116       @return vector coordinate in the body frame, in feet.
 117    */
 118   FGColumnVector3 StructuralToBody(const FGColumnVector3& r) const;
 119
 120   inline void SetEmptyWeight(double EW) { EmptyWeight = EW;}
 121   inline void SetBaseCG(const FGColumnVector3& CG) {vbaseXYZcg = vXYZcg = CG;}
 122
 123   void AddPointMass(Element* el);
 124   double GetPointMassWeight(void);
 125   FGColumnVector3& GetPointMassMoment(void);
 126   FGMatrix33& GetJ(void) {return mJ;}
 127   FGMatrix33& GetJinv(void) {return mJinv;}
 128   void SetAircraftBaseInertias(FGMatrix33 BaseJ) {baseJ = BaseJ;}
 129
 130   void bind(void);
 131   void unbind(void);
 132
 133 private:
 134   double Weight;
 135   double EmptyWeight;
 136   double Mass;
 137   FGMatrix33 mJ;
 138   FGMatrix33 mJinv;
 139   FGMatrix33 pmJ;
 140   FGMatrix33 baseJ;
 141   FGColumnVector3 vXYZcg;
 142   FGColumnVector3 vXYZtank;
 143   FGColumnVector3 vbaseXYZcg;
 144   FGColumnVector3 vPMxyz;
 145   FGColumnVector3 PointMassCG;
 146   FGMatrix33& CalculatePMInertias(void);
 147
 148   struct PointMass {
 149     PointMass(double w, double x, double y, double z) {
 150       Weight = w;
 151       Location.InitMatrix(x, y, z);
 152     }
 153     FGColumnVector3 Location;
 154     double Weight;
 155   };
 156
 157   vector <struct PointMass> PointMasses;
 158
 159   void Debug(int from);
 160 };
 161 }
 162 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 163 #endif