Sync. with JSBSim CVS.

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

diff --git a/src/FDM/JSBSim/FGRotation.h b/src/FDM/JSBSim/FGRotation.h
index 5122535fcb4abe3c9cfceda6883a219ff65ece75..85ee9b2553e1d460b2e1beb126a01bdecafd235c 100644 (file)
--- a/src/FDM/JSBSim/FGRotation.h
+++ b/src/FDM/JSBSim/FGRotation.h
@@ -27,24 +27,6 @@ HISTORY
 --------------------------------------------------------------------------------
 12/02/98   JSB   Created
 
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-COMMENTS, REFERENCES,  and NOTES
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-[1] Cooke, Zyda, Pratt, and McGhee, "NPSNET: Flight Simulation Dynamic Modeling
-    Using Quaternions", Presence, Vol. 1, No. 4, pp. 404-420  Naval Postgraduate
-    School, January 1994
-[2] D. M. Henderson, "Euler Angles, Quaternions, and Transformation Matrices",
-    JSC 12960, July 1977
-[3] Richard E. McFarland, "A Standard Kinematic Model for Flight Simulation at
-    NASA-Ames", NASA CR-2497, January 1975
-[4] Barnes W. McCormick, "Aerodynamics, Aeronautics, and Flight Mechanics",
-    Wiley & Sons, 1979 ISBN 0-471-03032-5
-[5] Bernard Etkin, "Dynamics of Flight, Stability and Control", Wiley & Sons,
-    1982 ISBN 0-471-08936-2
-
-  The order of rotations used in this class corresponds to a 3-2-1 sequence,
-  or Y-P-R, or Z-Y-X, if you prefer.
-
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 SENTRY
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
@@ -68,12 +50,40 @@ INCLUDES
 #endif
 
 #include "FGModel.h"
-#include "FGMatrix33.h"
 #include "FGColumnVector3.h"
-#include "FGColumnVector4.h"
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+DEFINITIONS
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #define ID_ROTATION "$Id$"
 
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+FORWARD DECLARATIONS
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+namespace JSBSim {
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+CLASS DOCUMENTATION
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+/** Models the rotational portion of the Equations of Motion.
+    Note: The order of rotations used in this class corresponds to a 3-2-1 sequence,
+    or Y-P-R, or Z-Y-X, if you prefer.
+    @see Cooke, Zyda, Pratt, and McGhee, "NPSNET: Flight Simulation Dynamic Modeling
+    Using Quaternions", Presence, Vol. 1, No. 4, pp. 404-420  Naval Postgraduate
+    School, January 1994
+    @see D. M. Henderson, "Euler Angles, Quaternions, and Transformation Matrices",
+    JSC 12960, July 1977
+    @see Richard E. McFarland, "A Standard Kinematic Model for Flight Simulation at
+    NASA-Ames", NASA CR-2497, January 1975
+    @see Barnes W. McCormick, "Aerodynamics, Aeronautics, and Flight Mechanics",
+    Wiley & Sons, 1979 ISBN 0-471-03032-5
+    @see Bernard Etkin, "Dynamics of Flight, Stability and Control", Wiley & Sons,
+    1982 ISBN 0-471-08936-2
+*/
+
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 CLASS DECLARATION
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
@@ -105,11 +115,11 @@ public:
                                                         vAeroPQR(eQ)=q;
                                                         vAeroPQR(eR)=r;}
   inline void SetEuler(FGColumnVector3 tt) {vEuler = tt;}
-  
+
   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) const {return cPhi;}
   inline double GetCostht(void) const {return cTht;}
   inline double GetCospsi(void) const {return cPsi;}
@@ -117,7 +127,7 @@ public:
   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);
 
@@ -125,23 +135,22 @@ private:
   FGColumnVector3 vPQR;
   FGColumnVector3 vAeroPQR;
   FGColumnVector3 vPQRdot;
-  FGColumnVector3 vPQRdot_prev[3];
+  FGColumnVector3 vPQRdot_prev[4];
   FGColumnVector3 vMoments;
   FGColumnVector3 vEuler;
   FGColumnVector3 vEulerRates;
-  
+
   double cTht,sTht;
   double cPhi,sPhi;
   double cPsi,sPsi;
-  
-  double Ixx, Iyy, Izz, Ixz;
+
   double dt;
 
   void GetState(void);
 
   void Debug(int from);
 };
-
+}
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 #endif