src/FDM/JSBSim/models/flight_control/FGFCSComponent.h

   1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
   2
   3  Header:       FGFCSComponent.h
   4  Author:       Jon S. Berndt
   5  Date started: 05/01/2000
   6
   7  ------------- Copyright (C)  -------------
   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
  29 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  30 SENTRY
  31 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  32
  33 #ifndef FGFCSCOMPONENT_H
  34 #define FGFCSCOMPONENT_H
  35
  36 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  37 INCLUDES
  38 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  39
  40 #include "FGJSBBase.h"
  41 #include <string>
  42 #include <vector>
  43
  44 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  45 DEFINITIONS
  46 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  47
  48 #define ID_FCSCOMPONENT "$Id: FGFCSComponent.h,v 1.16 2009/10/24 22:59:30 jberndt Exp $"
  49
  50 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  51 FORWARD DECLARATIONS
  52 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  53
  54 namespace JSBSim {
  55
  56 class FGFCS;
  57 class FGPropertyManager;
  58 class Element;
  59
  60 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  61 CLASS DOCUMENTATION
  62 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  63
  64 /** Base class for JSBSim Flight Control System Components.
  65     The Flight Control System (FCS) for JSBSim consists of the FCS container
  66     class (see FGFCS), the FGFCSComponent base class, and the
  67     component classes from which can be constructed a string, or channel. See:
  68
  69     - FGSwitch
  70     - FGGain
  71     - FGKinemat
  72     - FGFilter
  73     - FGDeadBand
  74     - FGSummer
  75     - FGSensor
  76     - FGFCSFunction
  77     - FGPID
  78     - FGAccelerometer
  79     - FGGyro
  80     - FGActuator
  81
  82     @author Jon S. Berndt
  83     @version $Id: FGFCSComponent.h,v 1.16 2009/10/24 22:59:30 jberndt Exp $
  84     @see Documentation for the FGFCS class, and for the configuration file class
  85 */
  86
  87 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  88 CLASS DECLARATION
  89 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  90
  91 class FGFCSComponent : public FGJSBBase
  92 {
  93 public:
  94   /// Constructor
  95   FGFCSComponent(FGFCS* fcs, Element* el);
  96   /// Destructor
  97   virtual ~FGFCSComponent();
  98
  99   virtual bool Run(void);
 100   virtual void SetOutput(void);
 101   double GetOutput (void) const {return Output;}
 102   std::string GetName(void) const {return Name;}
 103   std::string GetType(void) const { return Type; }
 104   virtual double GetOutputPct(void) const { return 0; }
 105
 106 protected:
 107   FGFCS* fcs;
 108   FGPropertyManager* PropertyManager;
 109   FGPropertyManager* treenode;
 110   std::vector <FGPropertyManager*> OutputNodes;
 111   FGPropertyManager* ClipMinPropertyNode;
 112   FGPropertyManager* ClipMaxPropertyNode;
 113   std::vector <FGPropertyManager*> InputNodes;
 114   std::vector <float> InputSigns;
 115   std::vector <double> output_array;
 116   std::string Type;
 117   std::string Name;
 118   double Input;
 119   double Output;
 120   double clipmax, clipmin;
 121   int delay;
 122   int index;
 123   float clipMinSign, clipMaxSign;
 124   double dt;
 125   bool IsOutput;
 126   bool clip;
 127
 128   void Delay(void);
 129   void Clip(void);
 130   virtual void bind();
 131   virtual void Debug(int from);
 132 };
 133
 134 } //namespace JSBSim
 135
 136 #include "../FGFCS.h"
 137
 138 #endif
 139