/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
+
Header: FGState.h
Author: Jon S. Berndt
Date started: 11/17/98
-
+
------------- Copyright (C) 1999 Jon S. Berndt (jsb@hal-pc.org) -------------
-
+
This program is free software; you can redistribute it and/or modify it under
the terms of the GNU General Public License as published by the Free Software
Foundation; either version 2 of the License, or (at your option) any later
version.
-
+
This program is distributed in the hope that it will be useful, but WITHOUT
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
details.
-
+
You should have received a copy of the GNU General Public License along with
this program; if not, write to the Free Software Foundation, Inc., 59 Temple
Place - Suite 330, Boston, MA 02111-1307, USA.
-
+
Further information about the GNU General Public License can also be found on
the world wide web at http://www.gnu.org.
-
+
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
-
+
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
SENTRY
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
# include <fstream.h>
# endif
#else
-# include <fstream>
+# if defined(sgi) && !defined(__GNUC__) && (_COMPILER_VERSION < 740)
+# 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 "FGQuaternion.h"
+#include "FGFDMExec.h"
+#include "FGAtmosphere.h"
+#include "FGFCS.h"
+#include "FGPropagate.h"
+#include "FGAuxiliary.h"
+#include "FGAerodynamics.h"
+#include "FGOutput.h"
+#include "FGAircraft.h"
+#include "FGGroundReactions.h"
+#include "FGPropulsion.h"
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-DEFINES
+DEFINITIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-#define ID_STATE "$Header$"
+#define ID_STATE "$Id$"
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-CLASS DECLARATION
+FORWARD DECLARATIONS
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+namespace JSBSim {
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+CLASS DOCUMENTATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-class FGFDMExec;
+/** Encapsulates the calculation of aircraft state.
+ @author Jon S. Berndt
+ @version $Id$
+*/
-class FGState {
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+CLASS DECLARATION
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+class FGState : public FGJSBBase
+{
public:
+ /** Constructor
+ @param Executive a pointer to the parent executive object */
FGState(FGFDMExec*);
- ~FGState(void);
+ /// Destructor
+ ~FGState();
- bool Reset(string, string, string);
- void Initialize(float, float, float, float, float, float, float, float, float);
+ /** 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; }
- 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);
-
-
- 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);
- 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:
+ /** Calculates and returns the stability-to-body axis transformation matrix.
+ @return a reference to the stability-to-body transformation matrix.
+ */
+ FGMatrix33& GetTs2b(void);
- float a; // speed of sound
- float sim_time, dt;
- float saved_dt;
+ /** Calculates and returns the body-to-stability axis transformation matrix.
+ @return a reference to the stability-to-body transformation matrix.
+ */
+ FGMatrix33& GetTb2s(void);
- FGFDMExec* FDMExec;
- FGMatrix mTb2l;
- FGMatrix mTl2b;
- FGMatrix mTs2b;
- FGColumnVector vQtrn;
+ /** Prints a summary of simulator state (speed, altitude,
+ configuration, etc.)
+ */
+ void ReportState(void);
- typedef map<string, eParam> CoeffMap;
- CoeffMap coeffdef;
+ void bind();
+ void unbind();
-protected:
- enum {ePhi=1, eTht, ePsi};
- enum {eP=1, eQ, eR};
-};
+private:
+ double sim_time, dt;
+ double saved_dt;
+ FGFDMExec* FDMExec;
+ FGMatrix33 mTs2b;
+ FGMatrix33 mTb2s;
+
+ FGAircraft* Aircraft;
+ FGPropagate* Propagate;
+ FGOutput* Output;
+ FGAtmosphere* Atmosphere;
+ FGFCS* FCS;
+ FGAerodynamics* Aerodynamics;
+ FGGroundReactions* GroundReactions;
+ FGPropulsion* Propulsion;
+ FGAuxiliary* Auxiliary;
+ FGPropertyManager* PropertyManager;
+
+ void Debug(int from);
+};
+}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+
#endif
+
projects / flightgear.git / blobdiff