- fixed fuel-need calculations

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

diff --git a/src/FDM/JSBSim/FGRotation.h b/src/FDM/JSBSim/FGRotation.h
index b33f7764210484a3c4226abc495c423e5283fdf8..50989e8efb81d5f3db9045fbceba8a83d8309a4d 100644 (file)
--- a/src/FDM/JSBSim/FGRotation.h
+++ b/src/FDM/JSBSim/FGRotation.h
@@ -58,24 +58,21 @@ INCLUDES
 
 #ifdef FGFS
 #  include <simgear/compiler.h>
-#  ifdef SG_HAVE_STD_INCLUDES
-#    include <cmath>
-#  else
+#  include <math.h>
+#else
+#  if defined (sgi) && !defined(__GNUC__)
 #    include <math.h>
+#  else
+#    include <cmath>
 #  endif
-#else
-#  include <cmath>
-#endif
-
-#ifndef M_PI
-#  include <simgear/constants.h>
-#  define M_PI FG_PI
 #endif
 
 #include "FGModel.h"
-#include "FGMatrix.h"
+#include "FGMatrix33.h"
+#include "FGColumnVector3.h"
+#include "FGColumnVector4.h"
 
-#define ID_ROTATION "$Header$"
+#define ID_ROTATION "$Id$"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 CLASS DECLARATION
@@ -83,49 +80,61 @@ 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 FGColumnVector GetPQRdot(void) {return vPQRdot;}
-  inline FGColumnVector GetEuler(void) {return vEuler;}
-  inline FGColumnVector GetEulerRates(void) { return vEulerRates; }
-  inline void SetPQR(FGColumnVector tt) {vPQR = tt;}
-  inline void SetEuler(FGColumnVector tt) {vEuler = tt;}
+  inline FGColumnVector3& GetPQR(void) {return vPQR;}
+  inline double GetPQR(int axis) {return vPQR(axis);}
+  inline FGColumnVector3& GetAeroPQR(void) {return vAeroPQR;}
+  inline double GetAeroPQR(int axis) {return vAeroPQR(axis);}
+  inline FGColumnVector3& GetPQRdot(void) {return vPQRdot;}
+  inline double GetPQRdot(int idx) {return vPQRdot(idx);}
+  inline FGColumnVector3& GetEuler(void) {return vEuler;}
+  inline double GetEuler(int axis) {return vEuler(axis);}
+  inline FGColumnVector3& GetEulerRates(void) { return vEulerRates; }
+  inline double GetEulerRates(int axis) { return vEulerRates(axis); }
+  inline void SetPQR(FGColumnVector3 tt) {vPQR = tt;}
+  inline void SetPQR(double p, double q, double r) {vPQR(eP)=p;
+                                                    vPQR(eQ)=q;
+                                                    vPQR(eR)=r;}
+  inline void SetEuler(FGColumnVector3 tt) {vEuler = tt;}
   
-  inline float Getphi(void) {return vEuler(1);}
-  inline float Gettht(void) {return vEuler(2);}
-  inline float Getpsi(void) {return vEuler(3);}
+  inline double Getphi(void) {return vEuler(1);}
+  inline double Gettht(void) {return vEuler(2);}
+  inline double Getpsi(void) {return vEuler(3);}
   
-  inline float GetCosphi(void) {return cPhi;}
-  inline float GetCostht(void) {return cTht;}
-  inline float GetCospsi(void) {return cPsi;}
-
-  inline float GetSinphi(void) {return sPhi;}
-  inline float GetSintht(void) {return sTht;}
-  inline float GetSinpsi(void) {return sPsi;}
-
+  inline double GetCosphi(void) {return cPhi;}
+  inline double GetCostht(void) {return cTht;}
+  inline double GetCospsi(void) {return cPsi;}
+
+  inline double GetSinphi(void) {return sPhi;}
+  inline double GetSintht(void) {return sTht;}
+  inline double GetSinpsi(void) {return sPsi;}
+
+private:
+  FGColumnVector3 vPQR;
+  FGColumnVector3 vAeroPQR;
+  FGColumnVector3 vPQRdot;
+  FGColumnVector3 vMoments;
+  FGColumnVector3 vEuler;
+  FGColumnVector3 vEulerRates;
+  FGColumnVector3 vlastPQRdot;
+  
+  double cTht,sTht;
+  double cPhi,sPhi;
+  double cPsi,sPsi;
+  
+  double Ixx, Iyy, Izz, Ixz;
+  double dt;
 
+  void GetState(void);
 
+  void Debug(int from);
 };
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 #endif
+