-/*******************************************************************************
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
Header: FGState.h
Author: Jon S. Berndt
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
-*******************************************************************************/
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#ifndef FGSTATE_H
#define FGSTATE_H
-/*******************************************************************************
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
INCLUDES
-*******************************************************************************/
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#ifdef FGFS
# include <simgear/compiler.h>
-# include STL_STRING
-# ifdef FG_HAVE_STD_INCLUDES
+# ifdef SG_HAVE_STD_INCLUDES
# include <fstream>
# else
# include <fstream.h>
# endif
- FG_USING_STD(string);
#else
-# include <string>
-# include <fstream>
+# if defined(sgi) && !defined(__GNUC__) && (_COMPILER_VERSION < 740)
+# include <fstream.h>
+# else
+# include <fstream>
+# endif
#endif
-#include "FGDefs.h"
+#include <string>
+#include <map>
+#include "FGJSBBase.h"
#include "FGInitialCondition.h"
-
-/*******************************************************************************
-DEFINES
-*******************************************************************************/
-
-using namespace std;
-
-/*******************************************************************************
+#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"
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+DEFINITIONS
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+#define ID_STATE "$Id$"
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+FORWARD DECLARATIONS
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+namespace JSBSim {
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+CLASS DOCUMENTATION
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+/** Encapsulates the calculation of aircraft state.
+ @author Jon S. Berndt
+ @version $Id$
+*/
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DECLARATION
-*******************************************************************************/
-
-class FGFDMExec;
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-class FGState
+class FGState : public FGJSBBase
{
public:
- FGState(FGFDMExec*);
- ~FGState(void);
-
- bool Reset(string, string);
- void Initialize(float, float, float, float, float, float, float, float, float);
+ /** Constructor
+ @param Executive a pointer to the parent executive object */
+ FGState(FGFDMExec*);
+ /// Destructor
+ ~FGState();
+
+ /** 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);
- bool DumpData(string);
- bool DisplayData(void);
-
- inline float GetVt(void) {return Vt;}
-
- inline float Getlatitude(void) {return latitude;}
- inline float Getlongitude(void) {return longitude;}
- inline float GetGeodeticLat(void) {return GeodeticLat;}
-
- inline float Getadot(void) {return adot;}
- inline float Getbdot(void) {return bdot;}
-
- inline float GetLocalAltitudeOverRunway(void) {return LocalAltitudeOverRunway;}
- inline float Geth(void) {return h;}
- inline float Geta(void) {return a;}
- inline float GetMach(void) {return Mach;}
-
- inline float Getsim_time(void) {return sim_time;}
- inline float Getdt(void) {return dt;}
-
- inline float Getqbar(void) {return qbar;}
-
- inline void SetVt(float tt) {Vt = tt;}
-
- inline void Setlatitude(float tt) {latitude = tt;}
- inline void Setlongitude(float tt) {longitude = tt;}
- inline void SetGeodeticLat(float tt) {GeodeticLat = tt;}
-
- inline void Setadot(float tt) {adot = tt;}
- inline void Setbdot(float tt) {bdot = tt;}
-
- inline void Setqbar(float tt) {qbar = tt;}
-
- inline void SetLocalAltitudeOverRunway(float tt) {LocalAltitudeOverRunway = tt;}
- inline void Seth(float tt) {h = tt;}
- inline void Seta(float tt) {a = tt;}
- inline void SetMach(float tt) {Mach = tt;}
-
- inline float Setsim_time(float tt) {sim_time = tt; return sim_time;}
- inline void Setdt(float tt) {dt = tt;}
-
- inline float IncrTime(void) {sim_time+=dt;return sim_time;}
+ /// 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;}
+
+ /** 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;
+ }
+
+ /** 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; }
+
+ /** Increments the simulation time.
+ @return the new simulation time.
+ */
+ inline double IncrTime(void) {
+ sim_time+=dt;
+ return sim_time;
+ }
+
+ /** 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);
+
+ /** Prints a summary of simulator state (speed, altitude,
+ configuration, etc.)
+ */
+ void ReportState(void);
+
+ void bind();
+ void unbind();
private:
-
- float Vt; // Total velocity
- float latitude, longitude; // position
- float GeodeticLat; // Geodetic Latitude
- float adot, bdot; // alpha dot and beta dot
- float h, a; // altitude above sea level, speed of sound
- float qbar; // dynamic pressure
- float sim_time, dt;
- float Mach; // Mach number
+ double sim_time, dt;
+ double saved_dt;
FGFDMExec* FDMExec;
- float LocalAltitudeOverRunway;
-
-protected:
-
+ 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