JSBSim tweaks.

[flightgear.git] / src / FDM / JSBSim / FGRotation.h

diff --git a/src/FDM/JSBSim/FGRotation.h b/src/FDM/JSBSim/FGRotation.h
index b33f7764210484a3c4226abc495c423e5283fdf8..3f64a254656dc28543a51c7aa687e9c3bb2d5de5 100644 (file)
--- a/src/FDM/JSBSim/FGRotation.h
+++ b/src/FDM/JSBSim/FGRotation.h
@@ -58,24 +58,20 @@ INCLUDES
 
 #ifdef FGFS
 #  include <simgear/compiler.h>
-#  ifdef SG_HAVE_STD_INCLUDES
-#    include <cmath>
-#  else
-#    include <math.h>
-#  endif
+#  include <math.h>
 #else
 #  include <cmath>
 #endif
 
 #ifndef M_PI
 #  include <simgear/constants.h>
-#  define M_PI FG_PI
+#  define M_PI SG_PI
 #endif
 
 #include "FGModel.h"
 #include "FGMatrix.h"
 
-#define ID_ROTATION "$Header$"
+#define ID_ROTATION "$Id$"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 CLASS DECLARATION
@@ -83,31 +79,20 @@ CLASS DECLARATION
 
 class FGRotation : public FGModel
 {
-  FGColumnVector vPQR;
-  FGColumnVector vPQRdot;
-  FGColumnVector vMoments;
-  FGColumnVector vEuler;
-  FGColumnVector vEulerRates;
-  
-  float cTht,sTht;
-  float cPhi,sPhi;
-  float cPsi,sPsi;
-  
-  float Ixx, Iyy, Izz, Ixz;
-  float dt;
-
-  void GetState(void);
-
 public:
   FGRotation(FGFDMExec*);
-  ~FGRotation(void);
+  ~FGRotation();
 
   bool Run(void);
 
   inline FGColumnVector GetPQR(void) {return vPQR;}
+  inline float GetPQR(int axis) {return vPQR(axis);}
   inline FGColumnVector GetPQRdot(void) {return vPQRdot;}
+  inline float GetPQRdot(int idx) {return vPQRdot(idx);}
   inline FGColumnVector GetEuler(void) {return vEuler;}
+  inline float GetEuler(int axis) {return vEuler(axis);}
   inline FGColumnVector GetEulerRates(void) { return vEulerRates; }
+  inline float GetEulerRates(int axis) { return vEulerRates(axis); }
   inline void SetPQR(FGColumnVector tt) {vPQR = tt;}
   inline void SetEuler(FGColumnVector tt) {vEuler = tt;}
   
@@ -123,9 +108,26 @@ public:
   inline float GetSintht(void) {return sTht;}
   inline float GetSinpsi(void) {return sPsi;}
 
+private:
+  FGColumnVector vPQR;
+  FGColumnVector vPQRdot;
+  FGColumnVector vMoments;
+  FGColumnVector vEuler;
+  FGColumnVector vEulerRates;
+  FGColumnVector vlastPQRdot;
+  
+  float cTht,sTht;
+  float cPhi,sPhi;
+  float cPsi,sPsi;
+  
+  float Ixx, Iyy, Izz, Ixz;
+  float dt;
 
+  void GetState(void);
 
+  void Debug(void);
 };
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 #endif
+