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 #ifdef FGFS
  41 #  include <simgear/compiler.h>
  42 #  ifdef SG_HAVE_STD_INCLUDES
  43 #    include <vector>
  44 #  else
  45 #    include <vector.h>
  46 #  endif
  47 #else
  48 #  include <vector>
  49 #endif
  50
  51 #include <string>
  52 #include "FGFCSComponent.h"
  53 #include <input_output/FGXMLElement.h>
  54
  55 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  56 DEFINITIONS
  57 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  58
  59 #define ID_FLAPS "$Id$"
  60
  61 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  62 FORWARD DECLARATIONS
  63 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  64
  65 namespace JSBSim {
  66
  67 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  68 CLASS DOCUMENTATION
  69 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  70
  71 /** Encapsulates a kinematic (mechanical) component for the flight control system.
  72 This component models the action of a moving effector, such as an aerosurface or
  73 other mechanized entity such as a landing gear strut for the purpose of effecting
  74 vehicle control or configuration. The form of the component specification is:
  75
  76 @code
  77 <kinematic name="Gear Control">
  78   <input> [-]property </input>
  79   <traverse>
  80     <setting>
  81       <position> number </position>
  82       <time> number </time>
  83     </setting>
  84     \85
  85   </traverse>
  86   [<clipto>
  87     <min> {[-]property name | value} </min>
  88     <max> {[-]property name | value} </max>
  89   </clipto>]
  90   [<gain> {property name | value} </gain>]
  91   [<output> {property} </output>]
  92 </kinematic>
  93 @endcode
  94
  95 The detent is the position that the component takes, and the lag is the time it
  96 takes to get to that position from an adjacent setting. For example:
  97
  98 @code
  99 <kinematic name="Gear Control">
 100   <input>gear/gear-cmd-norm</input>
 101   <traverse>
 102     <setting>
 103       <position>0</position>
 104       <time>0</time>
 105     </setting>
 106     <setting>
 107       <position>1</position>
 108       <time>5</time>
 109     </setting>
 110   </traverse>
 111   <output>gear/gear-pos-norm</output>
 112 </kinematic>
 113 @endcode
 114
 115 In this case, it takes 5 seconds to get to a 1 setting. As this is a software
 116 mechanization of a servo-actuator, there should be an output specified.
 117   */
 118
 119 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 120 CLASS DECLARATION
 121 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 122
 123 class FGKinemat  : public FGFCSComponent {
 124 public:
 125   /** Constructor.
 126       @param fcs A reference to the ccurrent flightcontrolsystem.
 127       @param AC_cfg reference to the current aircraft configuration file.
 128       Initializes the FGKinemat object from the given configuration
 129       file. The Configuration file is expected to be at the stream
 130       position where the kinematic object starts. Also it is expected to
 131       be past the end of the current kinematic configuration on exit.
 132    */
 133   FGKinemat(FGFCS* fcs, Element* element);
 134
 135   /// Destructor.
 136   ~FGKinemat();
 137
 138   /** Kinematic component output value.
 139       @return the current output of the kinematic object on the range of [0,1]. */
 140   double GetOutputPct() const { return OutputPct; }
 141
 142   /** Run method, overrides FGModel::Run().
 143       @return false on success, true on failure.
 144       The routine doing the work.  */
 145   bool Run (void);
 146
 147 private:
 148   vector<double> Detents;
 149   vector<double> TransitionTimes;
 150   int NumDetents;
 151   double OutputPct;
 152   bool  DoScale;
 153
 154   void Debug(int from);
 155 };
 156 }
 157 #endif