FUNCTIONAL DESCRIPTION
--------------------------------------------------------------------------------
-Based on Flightgear code, which is based on LaRCSim. This class wraps all
-global state variables (such as velocity, position, orientation, etc.).
-
HISTORY
--------------------------------------------------------------------------------
11/17/98 JSB Created
# include <fstream.h>
# endif
#else
-# include <fstream>
+# if defined(sgi) && !defined(__GNUC__)
+# include <fstream.h>
+# else
+# include <fstream>
+# endif
#endif
#include <string>
#include <map>
-#include "FGDefs.h"
+#include "FGJSBBase.h"
#include "FGInitialCondition.h"
-#include "FGMatrix.h"
+#include "FGMatrix33.h"
+#include "FGColumnVector3.h"
+#include "FGColumnVector4.h"
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-DEFINES
+DEFINITIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-#define ID_STATE "$Header$"
+#define ID_STATE "$Id$"
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-CLASS DECLARATION
+FORWARD DECLARATIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+class FGAircraft;
+class FGTranslation;
+class FGRotation;
+class FGAtmosphere;
+class FGOutput;
+class FGPosition;
class FGFDMExec;
+class FGGroundReactions;
+class FGPropulsion;
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+COMMENTS, REFERENCES, and NOTES [use "class documentation" below for API docs]
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+CLASS DOCUMENTATION
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+/** Encapsulates the calculation of aircraft state.
+ @author Jon S. Berndt
+ @version $Id$
+ @see <a href="http://cvs.sourceforge.net/cgi-bin/viewcvs.cgi/jsbsim/JSBSim/FGState.h?rev=HEAD&content-type=text/vnd.viewcvs-markup">
+ Header File </a>
+ @see <a href="http://cvs.sourceforge.net/cgi-bin/viewcvs.cgi/jsbsim/JSBSim/FGState.cpp?rev=HEAD&content-type=text/vnd.viewcvs-markup">
+ Source File </a>
+*/
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+CLASS DECLARATION
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-class FGState {
+class FGState : public FGJSBBase
+{
public:
+ /** Constructor
+ @param Executive a pointer to the parent executive object */
FGState(FGFDMExec*);
- ~FGState(void);
+ /// Destructor
+ ~FGState();
+
+ /** Specifies the Reset file to use.
+ The reset file normally resides in the same directory as an aircraft config file.
+ it includes the following information:
+ <ul>
+ <li>U, the body X-Axis velocity</li>
+ <li>V, the body Y-Axis velocity</li>
+ <li>W, the body Z-Axis velocity</li>
+ <li>Latitude measured in radians from the equator, negative values are south.</li>
+ <li>Longitude, measured in radians from the Greenwich meridian, negative values are west.</li>
+ <li>Phi, the roll angle in radians.</li>
+ <li>Theta, the pitch attitude in radians.</li>
+ <li>Psi, the heading angle in radians.</li>
+ <li>H, the altitude in feet</li>
+ <li>Wind Direction, the direction the wind is coming <u>from</u>.</li>
+ <li>Wind magnitude, the wind speed in fps.</li>
+ </ul>
+ @param path the path string leading to the specific aircraft file, i.e. "aircraft".
+ @param aircraft the name of the aircraft, i.e. "c172".
+ @param filename the name of the reset file without an extension, i.e. "reset00".
+ @return true if successful, false if the file could not be opened.
+ */
+ bool Reset(string path, string aircraft, string filename);
- bool Reset(string, string, string);
- void Initialize(float, float, float, float, float, float, float, float, float);
+ /** Initializes the simulation state based on the passed-in parameters.
+ @param U the body X-Axis velocity in fps.
+ @param V the body Y-Axis velocity in fps.
+ @param W the body Z-Axis velocity in fps.
+ @param lat latitude measured in radians from the equator, negative values are south.
+ @param lon longitude, measured in radians from the Greenwich meridian, negative values are west.
+ @param phi the roll angle in radians.
+ @param tht the pitch angle in radians.
+ @param psi the heading angle in radians measured clockwise from north.
+ @param h altitude in feet.
+ @param wnorth north velocity in feet per second
+ @param weast eastward velocity in feet per second
+ @param wdown downward velocity in feet per second
+ */
+ void Initialize(double U,
+ double V,
+ double W,
+ double lat,
+ double lon,
+ double phi,
+ double tht,
+ double psi,
+ double h,
+ double wnorth,
+ double weast,
+ double wdown);
+
+ /** Initializes the simulation state based on parameters from an Initial Conditions object.
+ @param FGIC pointer to an initial conditions object.
+ @see FGInitialConditions.
+ */
void Initialize(FGInitialCondition *FGIC);
- bool StoreData(string);
- inline float Geta(void) { return a; }
+ /// returns the speed of sound in feet per second.
+ inline double Geta(void) { return a; }
- inline float Getsim_time(void) { return sim_time; }
- inline float Getdt(void) { return dt; }
+ /// Returns the simulation time in seconds.
+ inline double Getsim_time(void) const { return sim_time; }
+ /// Returns the simulation delta T.
+ inline double Getdt(void) { return dt; }
+ /// Suspends the simulation and sets the delta T to zero.
inline void Suspend(void) {saved_dt = dt; dt = 0.0;}
+ /// Resumes the simulation by resetting delta T to the correct value.
inline void Resume(void) {dt = saved_dt;}
- float GetParameter(eParam val_idx);
- float GetParameter(string val_string);
- eParam GetParameterIndex(string val_string);
-
+ /** Sets the speed of sound.
+ @param speed the speed of sound in feet per second.
+ */
+ inline void Seta(double speed) { a = speed; }
- inline void Seta(float tt) { a = tt; }
-
- inline float Setsim_time(float tt) {
- sim_time = tt;
+ /** Sets the current sim time.
+ @param cur_time the current time
+ @return the current time.
+ */
+ inline double Setsim_time(double cur_time) {
+ sim_time = cur_time;
return sim_time;
}
- inline void Setdt(float tt) { dt = tt; }
-
- void SetParameter(eParam, float);
+
+ /** Sets the integration time step for the simulation executive.
+ @param delta_t the time step in seconds.
+ */
+ inline void Setdt(double delta_t) { dt = delta_t; }
- inline float IncrTime(void) {
+ /** Increments the simulation time.
+ @return the new simulation time.
+ */
+ inline double IncrTime(void) {
sim_time+=dt;
return sim_time;
}
- void InitMatrices(float phi, float tht, float psi);
+
+ /** Initializes the transformation matrices.
+ @param phi the roll angle in radians.
+ @param tht the pitch angle in radians.
+ @param psi the heading angle in radians
+ */
+ void InitMatrices(double phi, double tht, double psi);
+
+ /** Calculates the local-to-body and body-to-local conversion matrices.
+ */
void CalcMatrices(void);
- void IntegrateQuat(FGColumnVector vPQR, int rate);
- FGColumnVector CalcEuler(void);
- FGMatrix GetTs2b(float alpha, float beta);
- FGMatrix GetTl2b(void) { return mTl2b; }
- FGMatrix GetTb2l(void) { return mTb2l; }
- typedef map<eParam, string> ParamMap;
- ParamMap paramdef;
-private:
+ /** Integrates the quaternion.
+ Given the supplied rotational rate vector and integration rate, the quaternion
+ is integrated. The quaternion is later used to update the transformation
+ matrices.
+ @param vPQR the body rotational rate column vector.
+ @param rate the integration rate in seconds.
+ */
+ void IntegrateQuat(FGColumnVector3 vPQR, int rate);
+
+ /** Calculates Euler angles from the local-to-body matrix.
+ @return a reference to the vEuler column vector.
+ */
+ FGColumnVector3& CalcEuler(void);
+
+ /** Calculates and returns the stability-to-body axis transformation matrix.
+ @return a reference to the stability-to-body transformation matrix.
+ */
+ FGMatrix33& GetTs2b(void);
+
+ /** Calculates and returns the body-to-stability axis transformation matrix.
+ @return a reference to the stability-to-body transformation matrix.
+ */
+ FGMatrix33& GetTb2s(void);
+
+ /** Retrieves the local-to-body transformation matrix.
+ @return a reference to the local-to-body transformation matrix.
+ */
+ FGMatrix33& GetTl2b(void) { return mTl2b; }
+
+ /** Retrieves a specific local-to-body matrix element.
+ @param r matrix row index.
+ @param c matrix column index.
+ @return the matrix element described by the row and column supplied.
+ */
+ double GetTl2b(int r, int c) { return mTl2b(r,c);}
- float a; // speed of sound
- float sim_time, dt;
- float saved_dt;
+ /** Retrieves the body-to-local transformation matrix.
+ @return a reference to the body-to-local matrix.
+ */
+ FGMatrix33& GetTb2l(void) { return mTb2l; }
+
+ /** Retrieves a specific body-to-local matrix element.
+ @param r matrix row index.
+ @param c matrix column index.
+ @return the matrix element described by the row and column supplied.
+ */
+ double GetTb2l(int i, int j) { return mTb2l(i,j);}
+
+ /** Prints a summary of simulator state (speed, altitude,
+ configuration, etc.)
+ */
+ void ReportState(void);
+
+ inline string GetPropertyName(string prm) { return ParamNameToProp[prm]; }
+ //inline string GetPropertyName(eParam prm) { return ParamIdxToProp[prm]; }
+ //inline eParam GetParam(string property) { return PropToParam[property]; }
+
+ void bind();
+ void unbind();
+
+private:
+ double a; // speed of sound
+ double sim_time, dt;
+ double saved_dt;
FGFDMExec* FDMExec;
- FGMatrix mTb2l;
- FGMatrix mTl2b;
- FGMatrix mTs2b;
- FGColumnVector vQtrn;
+ FGMatrix33 mTb2l;
+ FGMatrix33 mTl2b;
+ FGMatrix33 mTs2b;
+ FGMatrix33 mTb2s;
+ FGColumnVector4 vQtrn;
+ FGColumnVector4 vlastQdot;
+ FGColumnVector4 vQdot;
+ FGColumnVector3 vUVW;
+ FGColumnVector3 vLocalVelNED;
+ FGColumnVector3 vLocalEuler;
+
+ FGColumnVector4 vTmp;
+ FGColumnVector3 vEuler;
- typedef map<string, eParam> CoeffMap;
+ FGAircraft* Aircraft;
+ FGPosition* Position;
+ FGTranslation* Translation;
+ FGRotation* Rotation;
+ FGOutput* Output;
+ FGAtmosphere* Atmosphere;
+ FGFCS* FCS;
+ FGAerodynamics* Aerodynamics;
+ FGGroundReactions* GroundReactions;
+ FGPropulsion* Propulsion;
+ FGPropertyManager* PropertyManager;
+
+ /* typedef map<string, eParam> CoeffMap;
CoeffMap coeffdef;
-protected:
- enum {ePhi=1, eTht, ePsi};
- enum {eP=1, eQ, eR};
+ typedef map<eParam, string> ParamMap;
+ //ParamMap paramdef; */
+
+
+ typedef map<string,string> ParamNameMap;
+ ParamNameMap ParamNameToProp;
+
+ typedef map<eParam,string> ParamIdxMap;
+ ParamIdxMap ParamIdxToProp;
+ //CoeffMap PropToParam;
+
+ int ActiveEngine;
+
+ void InitPropertyMaps(void);
+
+ void Debug(int from);
};
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+#include "FGFDMExec.h"
+#include "FGAtmosphere.h"
+#include "FGFCS.h"
+#include "FGTranslation.h"
+#include "FGRotation.h"
+#include "FGPosition.h"
+#include "FGAerodynamics.h"
+#include "FGOutput.h"
+#include "FGAircraft.h"
+#include "FGGroundReactions.h"
+#include "FGPropulsion.h"
+
#endif
+
projects / flightgear.git / blobdiff