/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
+
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
--------------------------------------------------------------------------------
-
+
HISTORY
--------------------------------------------------------------------------------
11/17/98 JSB Created
-
+
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
SENTRY
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
# include <fstream.h>
# endif
#else
-# if defined(sgi) && !defined(__GNUC__)
+# if defined(sgi) && !defined(__GNUC__) && (_COMPILER_VERSION < 740)
# include <fstream.h>
# else
# include <fstream>
#include <string>
#include <map>
-#include "FGDefs.h"
#include "FGJSBBase.h"
#include "FGInitialCondition.h"
#include "FGMatrix33.h"
#include "FGColumnVector3.h"
-#include "FGColumnVector4.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
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]
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+namespace JSBSim {
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DOCUMENTATION
/// 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);
-
- /** 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(float U,
- float V,
- float W,
- float lat,
- float lon,
- float phi,
- float tht,
- float psi,
- float h,
- float wnorth,
- float weast,
- float 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);
- /** Stores state data in the supplied file name.
- @param filename the file to store the data in.
- @return true if successful.
- */
- bool StoreData(string filename);
-
- /// returns the speed of sound in feet per second.
- inline float Geta(void) { return a; }
-
/// Returns the simulation time in seconds.
- inline float Getsim_time(void) { return sim_time; }
+ inline double Getsim_time(void) const { return sim_time; }
/// Returns the simulation delta T.
- inline float Getdt(void) { return dt; }
+ 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;}
- /** Retrieves a parameter.
- The parameters that can be retrieved are enumerated in FGDefs.h.
- @param val_idx one of the enumerated JSBSim parameters.
- @return the value of the parameter.
- */
- float GetParameter(eParam val_idx);
-
- /** Retrieves a parameter.
- The parameters that can be retrieved are enumerated in FGDefs.h.
- @param val_string a string representing one of the enumerated JSBSim parameters,
- i.e. "FG_QBAR".
- @return the value of the parameter.
- */
- float GetParameter(string val_string);
-
- /** Retrieves the JSBSim parameter enumerated item given the text string.
- @param val_string the parameter string, i.e. "FG_QBAR".
- @return the JSBSim parameter index (an enumerated type) for the supplied string.
- */
- eParam GetParameterIndex(string val_string);
-
- /** Sets the speed of sound.
- @param speed the speed of sound in feet per second.
- */
- inline void Seta(float speed) { a = speed; }
-
/** Sets the current sim time.
@param cur_time the current time
@return the current time.
*/
- inline float Setsim_time(float cur_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(float delta_t) { dt = delta_t; }
-
- /** Sets the JSBSim parameter to the supplied value.
- @param prm the JSBSim parameter to set, i.e. FG_RUDDER_POS.
- @param val the value to give the parameter.
- */
- void SetParameter(eParam prm, float val);
+ inline void Setdt(double delta_t) { dt = delta_t; }
/** Increments the simulation time.
@return the new simulation time.
*/
- inline float IncrTime(void) {
+ inline double IncrTime(void) {
sim_time+=dt;
return sim_time;
}
- /** 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(float phi, float tht, float psi);
-
- /** Calculates the local-to-body and body-to-local conversion matrices.
- */
- void CalcMatrices(void);
-
- /** 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.
- @param alpha angle of attack in radians.
- @param beta angle of sideslip in radians.
@return a reference to the stability-to-body transformation matrix.
*/
- FGMatrix33& GetTs2b(float alpha, float beta);
-
- /** 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.
- */
- float GetTl2b(int r, int c) { return mTl2b(r,c);}
+ FGMatrix33& GetTs2b(void);
- /** Retrieves the body-to-local transformation matrix.
- @return a reference to the body-to-local matrix.
+ /** Calculates and returns the body-to-stability axis transformation matrix.
+ @return a reference to the stability-to-body transformation matrix.
*/
- FGMatrix33& GetTb2l(void) { return mTb2l; }
+ FGMatrix33& GetTb2s(void);
- /** 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.
- */
- float GetTb2l(int i, int j) { return mTb2l(i,j);}
-
- /** Prints a summary of simulator state (speed, altitude,
+ /** Prints a summary of simulator state (speed, altitude,
configuration, etc.)
*/
void ReportState(void);
-
- typedef map<eParam, string> ParamMap;
- ParamMap paramdef;
+ void bind();
+ void unbind();
private:
- float a; // speed of sound
- float sim_time, dt;
- float saved_dt;
+ double sim_time, dt;
+ double saved_dt;
FGFDMExec* FDMExec;
- FGMatrix33 mTb2l;
- FGMatrix33 mTl2b;
FGMatrix33 mTs2b;
- FGColumnVector4 vQtrn;
- FGColumnVector4 vlastQdot;
- FGColumnVector3 vUVW;
- FGColumnVector3 vLocalVelNED;
- FGColumnVector3 vLocalEuler;
- FGColumnVector4 vQdot;
- FGColumnVector4 vTmp;
- FGColumnVector3 vEuler;
+ FGMatrix33 mTb2s;
FGAircraft* Aircraft;
- FGPosition* Position;
- FGTranslation* Translation;
- FGRotation* Rotation;
+ FGPropagate* Propagate;
FGOutput* Output;
FGAtmosphere* Atmosphere;
FGFCS* FCS;
FGAerodynamics* Aerodynamics;
FGGroundReactions* GroundReactions;
FGPropulsion* Propulsion;
+ FGAuxiliary* Auxiliary;
+ FGPropertyManager* PropertyManager;
- typedef map<string, eParam> CoeffMap;
- CoeffMap coeffdef;
- void Debug(void);
- int ActiveEngine;
+ 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