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 #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_SUMMER "$Id$"
  60
  61 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  62 FORWARD DECLARATIONS
  63 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  64
  65 namespace JSBSim {
  66
  67 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  68 CLASS DOCUMENTATION
  69 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  70
  71 /** Models a flight control system summing component.
  72     The Summer component sums two or more inputs. These can be pilot control
  73     inputs or state variables, and a bias can also be added in using the BIAS
  74     keyword.  The form of the summer component specification is:
  75 @code
  76     <summer name="{string}">
  77       <input> {string} </input>
  78       <input> {string} </input>
  79       <bias> {number} </bias>
  80       <clipto>
  81          <min> {number} </min>
  82          <max> {number} </max>
  83       </clipto>
  84       <output> {string} </output>
  85     </summer>
  86 @endcode
  87
  88     Note that in the case of an input property the property name may be
  89     immediately preceded by a minus sign. Here's an example of a summer
  90     component specification:
  91
  92 @code
  93     <summer name="Roll A/P Error summer">
  94       <input> velocities/p-rad_sec </input>
  95       <input> -fcs/roll-ap-wing-leveler </input>
  96       <input> fcs/roll-ap-error-integrator </input>
  97       <clipto>
  98          <min> -1 </min>
  99          <max>  1 </max>
 100       </clipto>
 101     </summer>
 102 @endcode
 103
 104 <pre>
 105     Notes:
 106
 107     There can be only one BIAS statement per component.
 108
 109     There may be any number of inputs.
 110 </pre>
 111
 112     @author Jon S. Berndt
 113     @version $Id$
 114 */
 115
 116 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 117 CLASS DECLARATION
 118 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 119
 120 class FGSummer  : public FGFCSComponent
 121 {
 122 public:
 123   /** Constructor.
 124       @param fcs a pointer to the parent FGFCS object.
 125       @param element a pointer to the configuration file node. */
 126   FGSummer(FGFCS* fcs, Element* element);
 127   /// Destructor
 128   ~FGSummer();
 129
 130   /// The execution method for this FCS component.
 131   bool Run(void);
 132
 133 private:
 134   double Bias;
 135   void Debug(int from);
 136 };
 137 }
 138 #endif