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

   1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
   2
   3  Header:       FGSummer.h
   4  Author:
   5  Date started:
   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 FGSUMMER_H
  34 #define FGSUMMER_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 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  46 DEFINITIONS
  47 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  48
  49 #define ID_SUMMER "$Id$"
  50
  51 using std::vector;
  52 using std::string;
  53
  54 using std::vector;
  55 using std::string;
  56
  57 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  58 FORWARD DECLARATIONS
  59 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  60
  61 namespace JSBSim {
  62
  63 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  64 CLASS DOCUMENTATION
  65 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  66
  67 /** Models a flight control system summing component.
  68     The Summer component sums two or more inputs. These can be pilot control
  69     inputs or state variables, and a bias can also be added in using the BIAS
  70     keyword.  The form of the summer component specification is:
  71 @code
  72     <summer name="{string}">
  73       <input> {string} </input>
  74       <input> {string} </input>
  75       <bias> {number} </bias>
  76       <clipto>
  77          <min> {number} </min>
  78          <max> {number} </max>
  79       </clipto>
  80       <output> {string} </output>
  81     </summer>
  82 @endcode
  83
  84     Note that in the case of an input property the property name may be
  85     immediately preceded by a minus sign. Here's an example of a summer
  86     component specification:
  87
  88 @code
  89     <summer name="Roll A/P Error summer">
  90       <input> velocities/p-rad_sec </input>
  91       <input> -fcs/roll-ap-wing-leveler </input>
  92       <input> fcs/roll-ap-error-integrator </input>
  93       <clipto>
  94          <min> -1 </min>
  95          <max>  1 </max>
  96       </clipto>
  97     </summer>
  98 @endcode
  99
 100 <pre>
 101     Notes:
 102
 103     There can be only one BIAS statement per component.
 104
 105     There may be any number of inputs.
 106 </pre>
 107
 108     @author Jon S. Berndt
 109     @version $Id$
 110 */
 111
 112 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 113 CLASS DECLARATION
 114 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 115
 116 class FGSummer  : public FGFCSComponent
 117 {
 118 public:
 119   /** Constructor.
 120       @param fcs a pointer to the parent FGFCS object.
 121       @param element a pointer to the configuration file node. */
 122   FGSummer(FGFCS* fcs, Element* element);
 123   /// Destructor
 124   ~FGSummer();
 125
 126   /// The execution method for this FCS component.
 127   bool Run(void);
 128
 129 private:
 130   double Bias;
 131   void Debug(int from);
 132 };
 133 }
 134 #endif