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   </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 current flight control system.
 127       @param element reference to the current configuration file node.
 128    */
 129   FGKinemat(FGFCS* fcs, Element* element);
 130
 131   /// Destructor.
 132   ~FGKinemat();
 133
 134   /** Kinematic component output value.
 135       @return the current output of the kinematic object on the range of [0,1]. */
 136   double GetOutputPct() const { return OutputPct; }
 137
 138   /** Run method, overrides FGModel::Run().
 139       @return false on success, true on failure.
 140       The routine doing the work.  */
 141   bool Run (void);
 142
 143 private:
 144   vector<double> Detents;
 145   vector<double> TransitionTimes;
 146   int NumDetents;
 147   double OutputPct;
 148   bool  DoScale;
 149
 150   void Debug(int from);
 151 };
 152 }
 153 #endif