FORWARD DECLARATIONS
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-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-COMMENTS, REFERENCES, and NOTES
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+namespace JSBSim {
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-DOCUMENTATION
+CLASS DOCUMENTATION
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/** Models the lateral and longitudinal translational EOM.
public:
/** Constructor
@param Executive a pointer to the parent executive object */
- FGPosition(FGFDMExec*);
+ FGPosition(FGFDMExec* Executive);
+
/// Destructor
~FGPosition();
+ bool InitModel(void);
+
/** Runs the Position model; called by the Executive
@see JSBSim.cpp documentation
@return false if no error */
inline FGColumnVector3& GetVel(void) { return vVel; }
inline FGColumnVector3& GetVelDot(void) { return vVelDot; }
- inline double GetVn(void) { return vVel(eX); }
- inline double GetVe(void) { return vVel(eY); }
- inline double GetVd(void) { return vVel(eZ); }
- inline double GetVground(void) { return Vground; }
- inline double GetGroundTrack(void) { return psigt; }
- inline double Geth(void) { return h; }
- inline double Gethdot(void) { return RadiusDot; }
- inline double GetLatitude(void) { return Latitude; }
- inline double GetLatitudeDot(void) { return LatitudeDot; }
- inline double GetLongitude(void) { return Longitude; }
- inline double GetLongitudeDot(void) { return LongitudeDot; }
- inline double GetRunwayRadius(void) { return RunwayRadius; }
- inline double GetDistanceAGL(void) { return DistanceAGL; }
- inline double GetRadius(void) { return Radius; }
+ inline double GetVn(void) const { return vVel(eX); }
+ inline double GetVe(void) const { return vVel(eY); }
+ inline double GetVd(void) const { return vVel(eZ); }
+ inline double GetVground(void) const { return Vground; }
+ inline double GetGroundTrack(void) const { return psigt; }
+ inline double Geth(void) const { return h; }
+ inline double GethVRP(void) const { return hVRP; }
+ inline double Gethdot(void) const { return RadiusDot; }
+ inline double GetLatitude(void) const { return Latitude; }
+ inline double GetLatitudeVRP(void) const { return LatitudeVRP; }
+ inline double GetLatitudeDot(void) const { return LatitudeDot; }
+ inline double GetLongitude(void) const { return Longitude; }
+ inline double GetLongitudeVRP(void) const { return LongitudeVRP; }
+ inline double GetLongitudeDot(void) const { return LongitudeDot; }
+ inline double GetRunwayRadius(void) const { return RunwayRadius; }
+ inline double GetDistanceAGL(void) const { return DistanceAGL; }
+ inline double GetRadius(void) const { return Radius; }
inline FGColumnVector3& GetRunwayNormal(void) { return vRunwayNormal; }
- inline double GetGamma(void) { return gamma; }
- inline void SetGamma(float tt) { gamma = tt; }
- inline double GetHOverB(void) { return hoverb; }
+ inline double GetGamma(void) const { return gamma; }
+ inline void SetGamma(double tt) { gamma = tt; }
+ inline double GetHOverBCG(void) const { return hoverbcg; }
+ inline double GetHOverBMAC(void) const { return hoverbmac; }
void SetvVel(const FGColumnVector3& v) { vVel = v; }
- void SetLatitude(float tt) { Latitude = tt; }
+ void SetLatitude(double tt) { Latitude = tt; }
void SetLongitude(double tt) { Longitude = tt; }
void Seth(double tt);
void SetRunwayRadius(double tt) { RunwayRadius = tt; }
inline void SetRunwayNormal(double fgx, double fgy, double fgz ) {
vRunwayNormal << fgx << fgy << fgz;
}
+ void SetVRP(FGColumnVector3& vrp) {vVRP = vrp;}
+
+ void bind(void);
+ void unbind(void);
private:
FGColumnVector3 vVel;
FGColumnVector3 vVelDot;
FGColumnVector3 vRunwayNormal;
+ FGColumnVector3 vVRP;
+ FGColumnVector3 vVRPoffset;
+ FGColumnVector3 vMac;
- double Vee, invMass, invRadius;
- double Radius, h;
+ double Radius, h, hVRP;
double LatitudeDot, LongitudeDot, RadiusDot;
- double lastLatitudeDot, lastLongitudeDot, lastRadiusDot;
+ double LatitudeDot_prev[4], LongitudeDot_prev[4], RadiusDot_prev[4];
double Longitude, Latitude;
- float dt;
+ double LongitudeVRP, LatitudeVRP;
+ double dt;
double RunwayRadius;
double DistanceAGL;
double SeaLevelRadius;
double gamma;
double Vt, Vground;
- float hoverb,b;
+ double hoverbcg,hoverbmac,b;
double psigt;
void GetState(void);
- void Debug(void);
+ void Debug(int from);
};
-
+}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
#endif