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 <input_output/FGXMLElement.h>
  42 #include <vector>
  43 #include <string>
  44
  45 using std::vector;
  46 using std::string;
  47
  48 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  49 DEFINITIONS
  50 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  51
  52 #define ID_FLAPS "$Id$"
  53
  54 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  55 FORWARD DECLARATIONS
  56 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  57
  58 namespace JSBSim {
  59
  60 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  61 CLASS DOCUMENTATION
  62 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  63
  64 /** Encapsulates a kinematic (mechanical) component for the flight control system.
  65 This component models the action of a moving effector, such as an aerosurface or
  66 other mechanized entity such as a landing gear strut for the purpose of effecting
  67 vehicle control or configuration. The form of the component specification is:
  68
  69 @code
  70 <kinematic name="Gear Control">
  71   <input> [-]property </input>
  72   <traverse>
  73     <setting>
  74       <position> number </position>
  75       <time> number </time>
  76     </setting>
  77     ...
  78   </traverse>
  79   [<clipto>
  80     <min> {[-]property name | value} </min>
  81     <max> {[-]property name | value} </max>
  82   </clipto>]
  83   [<gain> {property name | value} </gain>]
  84   [<output> {property} </output>]
  85 </kinematic>
  86 @endcode
  87
  88 The detent is the position that the component takes, and the lag is the time it
  89 takes to get to that position from an adjacent setting. For example:
  90
  91 @code
  92 <kinematic name="Gear Control">
  93   <input>gear/gear-cmd-norm</input>
  94   <traverse>
  95     <setting>
  96       <position>0</position>
  97       <time>0</time>
  98     </setting>
  99     <setting>
 100       <position>1</position>
 101       <time>5</time>
 102     </setting>
 103   </traverse>
 104   <output>gear/gear-pos-norm</output>
 105 </kinematic>
 106 @endcode
 107
 108 In this case, it takes 5 seconds to get to a 1 setting. As this is a software
 109 mechanization of a servo-actuator, there should be an output specified.
 110   */
 111
 112 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 113 CLASS DECLARATION
 114 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 115
 116 class FGKinemat  : public FGFCSComponent {
 117 public:
 118   /** Constructor.
 119       @param fcs A reference to the current flight control system.
 120       @param element reference to the current configuration file node.
 121    */
 122   FGKinemat(FGFCS* fcs, Element* element);
 123
 124   /// Destructor.
 125   ~FGKinemat();
 126
 127   /** Kinematic component output value.
 128       @return the current output of the kinematic object on the range of [0,1]. */
 129   double GetOutputPct() const { return OutputPct; }
 130
 131   /** Run method, overrides FGModel::Run().
 132       @return false on success, true on failure.
 133       The routine doing the work.  */
 134   bool Run (void);
 135
 136 private:
 137   vector<double> Detents;
 138   vector<double> TransitionTimes;
 139   int NumDetents;
 140   double OutputPct;
 141   bool  DoScale;
 142
 143   void Debug(int from);
 144 };
 145 }
 146 #endif