Latest round of JSBSim updates.

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

diff --git a/src/FDM/JSBSim/FGRotation.h b/src/FDM/JSBSim/FGRotation.h
index 01fa8aed0d6b084a3714dc5938d77a701dd83706..d072bda1e1a46c677f3b081da1896b9e40cd9820 100644 (file)
--- a/src/FDM/JSBSim/FGRotation.h
+++ b/src/FDM/JSBSim/FGRotation.h
@@ -1,4 +1,4 @@
-/*******************************************************************************
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
  Header:       FGRotation.h
  Author:       Jon Berndt
@@ -27,9 +27,9 @@ 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
@@ -45,16 +45,16 @@ COMMENTS, REFERENCES,  and NOTES
   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
-*******************************************************************************/
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #ifndef FGROTATION_H
 #define FGROTATION_H
 
-/*******************************************************************************
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 INCLUDES
-*******************************************************************************/
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #ifdef FGFS
 #  include <simgear/compiler.h>
@@ -67,45 +67,66 @@ INCLUDES
 #  include <cmath>
 #endif
 
+#ifndef M_PI
+#  include <simgear/constants.h>
+#  define M_PI FG_PI
+#endif
+
 #include "FGModel.h"
 #include "FGMatrix.h"
 
-using namespace std;
+#define ID_ROTATION "$Id$"
 
-/*******************************************************************************
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 CLASS DECLARATION
-*******************************************************************************/
-
-#pragma warn -8026
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 class FGRotation : public FGModel
 {
-  FGColumnVector vPQR;
-  FGColumnVector vPQRdot;
-  FGColumnVector vMoments;
-  FGColumnVector vEuler;
-
-  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 float Getphi(void) {return vEuler(1);}
   inline float Gettht(void) {return vEuler(2);}
   inline float 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;}
+
+private:
+  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);
+
+  void Debug(void);
 };
-#pragma warn .8026
 
-/******************************************************************************/
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 #endif
+