bool Run(void);
inline FGColumnVector3& GetPQR(void) {return vPQR;}
- inline double GetPQR(int axis) {return vPQR(axis);}
+ inline double GetPQR(int axis) const {return vPQR(axis);}
inline FGColumnVector3& GetAeroPQR(void) {return vAeroPQR;}
- inline double GetAeroPQR(int axis) {return vAeroPQR(axis);}
+ inline double GetAeroPQR(int axis) const {return vAeroPQR(axis);}
inline FGColumnVector3& GetPQRdot(void) {return vPQRdot;}
- inline double GetPQRdot(int idx) {return vPQRdot(idx);}
+ inline double GetPQRdot(int idx) const {return vPQRdot(idx);}
inline FGColumnVector3& GetEuler(void) {return vEuler;}
- inline double GetEuler(int axis) {return vEuler(axis);}
+ inline double GetEuler(int axis) const {return vEuler(axis);}
inline FGColumnVector3& GetEulerRates(void) { return vEulerRates; }
- inline double GetEulerRates(int axis) { return vEulerRates(axis); }
+ inline double GetEulerRates(int axis) const { 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 SetAeroPQR(FGColumnVector3 tt) {vAeroPQR = tt;}
+ inline void SetAeroPQR(double p, double q, double r) {vAeroPQR(eP)=p;
+ vAeroPQR(eQ)=q;
+ vAeroPQR(eR)=r;}
inline void SetEuler(FGColumnVector3 tt) {vEuler = tt;}
- inline double Getphi(void) {return vEuler(1);}
- inline double Gettht(void) {return vEuler(2);}
- inline double Getpsi(void) {return vEuler(3);}
+ inline double Getphi(void) const {return vEuler(1);}
+ inline double Gettht(void) const {return vEuler(2);}
+ inline double Getpsi(void) const {return vEuler(3);}
- inline double GetCosphi(void) {return cPhi;}
- inline double GetCostht(void) {return cTht;}
- inline double GetCospsi(void) {return cPsi;}
+ inline double GetCosphi(void) const {return cPhi;}
+ inline double GetCostht(void) const {return cTht;}
+ inline double GetCospsi(void) const {return cPsi;}
- inline double GetSinphi(void) {return sPhi;}
- inline double GetSintht(void) {return sTht;}
- inline double GetSinpsi(void) {return sPsi;}
+ inline double GetSinphi(void) const {return sPhi;}
+ inline double GetSintht(void) const {return sTht;}
+ inline double GetSinpsi(void) const {return sPsi;}
+
+ void bind(void);
+ void unbind(void);
private:
FGColumnVector3 vPQR;
FGColumnVector3 vAeroPQR;
FGColumnVector3 vPQRdot;
+ FGColumnVector3 vPQRdot_prev[3];
FGColumnVector3 vMoments;
FGColumnVector3 vEuler;
FGColumnVector3 vEulerRates;
- FGColumnVector3 vlastPQRdot;
double cTht,sTht;
double cPhi,sPhi;
void GetState(void);
- void Debug(void);
+ void Debug(int from);
};
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