-/*******************************************************************************
-
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
Header: FGPosition.h
Author: Jon S. Berndt
Date started: 1/5/99
--------------------------------------------------------------------------------
01/05/99 JSB Created
-********************************************************************************
-COMMENTS, REFERENCES, and NOTES
-********************************************************************************
-
-********************************************************************************
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
SENTRY
-*******************************************************************************/
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#ifndef FGPOSITION_H
#define FGPOSITION_H
-/*******************************************************************************
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
INCLUDES
-*******************************************************************************/
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#include "FGModel.h"
-#include "FGMatrix.h"
+#include "FGMatrix33.h"
+#include "FGColumnVector3.h"
+#include "FGColumnVector4.h"
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+DEFINITIONS
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+#define ID_POSITION "$Id$"
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+FORWARD DECLARATIONS
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+namespace JSBSim {
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+CLASS DOCUMENTATION
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+/** Models the lateral and longitudinal translational EOM.
+ @author Jon S. Berndt
+ @version $Id$
+ */
-/*******************************************************************************
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DECLARATION
-*******************************************************************************/
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
class FGPosition : public FGModel {
+public:
+ /** Constructor
+ @param Executive a pointer to the parent executive object */
+ 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 */
+ bool Run(void);
+
+ inline FGColumnVector3& GetVel(void) { return vVel; }
+ inline FGColumnVector3& GetVelDot(void) { return vVelDot; }
+ 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) 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(double tt) { Latitude = tt; }
+ void SetLongitude(double tt) { Longitude = tt; }
+ void Seth(double tt);
+ void SetRunwayRadius(double tt) { RunwayRadius = tt; }
+ void SetSeaLevelRadius(double tt) { SeaLevelRadius = tt;}
+ void SetDistanceAGL(double 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);
- FGColumnVector vUVW;
- FGColumnVector vVel;
- FGColumnVector vVelDot;
+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;
- double hoverb,b;
+ double hoverbcg,hoverbmac,b;
- void GetState(void);
+ double psigt;
-public:
- FGPosition(FGFDMExec*);
- ~FGPosition(void);
-
- inline FGColumnVector GetVel(void) { return vVel; }
- inline FGColumnVector GetVelDot(void) { return vVelDot; }
- inline FGColumnVector GetUVW(void) { return vUVW; }
- 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 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 GetGamma(void) { return gamma; }
- inline double GetHOverB(void) { return hoverb; }
- void SetvVel(const FGColumnVector& v) { vVel = v; }
- void SetLatitude(float tt) { Latitude = tt; }
- void SetLongitude(double tt) { Longitude = tt; }
- void Seth(double tt);
- void SetRunwayRadius(double tt) { RunwayRadius = tt; }
- void SetSeaLevelRadius(double tt) { SeaLevelRadius = tt;}
- void SetDistanceAGL(double tt);
-
- bool Run(void);
+ void GetState(void);
+ void Debug(int from);
};
-
-/******************************************************************************/
+}
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
#endif
+