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

   1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
   2
   3  Header:       FGKinemat.h
   4  Author:       Tony Peden, for flight control system authored by Jon S. Berndt
   5  Date started: 12/02/01
   6
   7  ------------- Copyright (C) Anthony K. Peden -------------
   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 FGKinemat_H
  34 #define FGKinemat_H
  35
  36 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  37 INCLUDES
  38 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  39
  40 #include "FGFCSComponent.h"
  41 #include <vector>
  42
  43 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  44 DEFINITIONS
  45 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  46
  47 #define ID_FLAPS "$Id$"
  48
  49 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  50 FORWARD DECLARATIONS
  51 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  52
  53 namespace JSBSim {
  54
  55 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  56 CLASS DOCUMENTATION
  57 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  58
  59 /** Encapsulates a kinematic (mechanical) component for the flight control system.
  60 This component models the action of a moving effector, such as an aerosurface or
  61 other mechanized entity such as a landing gear strut for the purpose of effecting
  62 vehicle control or configuration. The form of the component specification is:
  63
  64 @code
  65 <kinematic name="Gear Control">
  66   <input> [-]property </input>
  67   <traverse>
  68     <setting>
  69       <position> number </position>
  70       <time> number </time>
  71     </setting>
  72     ...
  73   </traverse>
  74   [<clipto>
  75     <min> {[-]property name | value} </min>
  76     <max> {[-]property name | value} </max>
  77   </clipto>]
  78   [<gain> {property name | value} </gain>]
  79   [<output> {property} </output>]
  80 </kinematic>
  81 @endcode
  82
  83 The detent is the position that the component takes, and the lag is the time it
  84 takes to get to that position from an adjacent setting. For example:
  85
  86 @code
  87 <kinematic name="Gear Control">
  88   <input>gear/gear-cmd-norm</input>
  89   <traverse>
  90     <setting>
  91       <position>0</position>
  92       <time>0</time>
  93     </setting>
  94     <setting>
  95       <position>1</position>
  96       <time>5</time>
  97     </setting>
  98   </traverse>
  99   <output>gear/gear-pos-norm</output>
 100 </kinematic>
 101 @endcode
 102
 103 In this case, it takes 5 seconds to get to a 1 setting. As this is a software
 104 mechanization of a servo-actuator, there should be an output specified.
 105   */
 106
 107 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 108 CLASS DECLARATION
 109 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 110
 111 class FGKinemat  : public FGFCSComponent {
 112 public:
 113   /** Constructor.
 114       @param fcs A reference to the current flight control system.
 115       @param element reference to the current configuration file node.
 116    */
 117   FGKinemat(FGFCS* fcs, Element* element);
 118
 119   /// Destructor.
 120   ~FGKinemat();
 121
 122   /** Kinematic component output value.
 123       @return the current output of the kinematic object on the range of [0,1]. */
 124   double GetOutputPct() const { return OutputPct; }
 125
 126   /** Run method, overrides FGModel::Run().
 127       @return false on success, true on failure.
 128       The routine doing the work.  */
 129   bool Run (void);
 130
 131 private:
 132   std::vector<double> Detents;
 133   std::vector<double> TransitionTimes;
 134   int NumDetents;
 135   double OutputPct;
 136   bool  DoScale;
 137
 138   void Debug(int from);
 139 };
 140 }
 141 #endif