/*******************************************************************************
-
+
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
*******************************************************************************/
*******************************************************************************/
#ifdef FGFS
-# include <Include/compiler.h>
-# include STL_STRING
+# include <simgear/compiler.h>
# ifdef FG_HAVE_STD_INCLUDES
# include <fstream>
# else
# include <fstream.h>
# endif
- FG_USING_STD(string);
#else
-# include <string>
# include <fstream>
#endif
+#include <string>
+#include <map>
#include "FGDefs.h"
+#include "FGInitialCondition.h"
+#include "FGMatrix.h"
/*******************************************************************************
DEFINES
*******************************************************************************/
-using namespace std;
-
/*******************************************************************************
CLASS DECLARATION
*******************************************************************************/
class FGFDMExec;
-class FGState
-{
+
+class FGState {
public:
- FGState(FGFDMExec*);
+ FGState(FGFDMExec*);
~FGState(void);
- bool Reset(string, string);
+ bool Reset(string, string, string);
+ void Initialize(float, float, float, float, float, float, float, float, float);
+ 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 Getadot(void) { return adot; }
+ inline float Getbdot(void) { return bdot; }
- inline float Geth(void) {return h;}
- inline float Geta(void) {return a;}
- inline float GetMach(void) {return Mach;}
+ inline float Geta(void) { return a; }
- inline float Getsim_time(void) {return sim_time;}
- inline float Getdt(void) {return dt;}
+ inline float Getsim_time(void) { return sim_time; }
+ inline float Getdt(void) { return dt; }
- inline float Getqbar(void) {return qbar;}
+ float GetParameter(int val_idx);
+ float GetParameter(string val_string);
+ int GetParameterIndex(string val_string);
- inline void SetVt(float tt) {Vt = tt;}
+ inline void Setadot(float tt) { adot = tt; }
+ inline void Setbdot(float tt) { bdot = tt; }
- inline void Setlatitude(float tt) {latitude = tt;}
- inline void Setlongitude(float tt) {longitude = tt;}
- inline void SetGeodeticLat(float tt) {GeodeticLat = tt;}
+ inline void Seta(float tt) { a = tt; }
- inline void Setadot(float tt) {adot = tt;}
- inline void Setbdot(float tt) {bdot = tt;}
+ inline float Setsim_time(float tt) {
+ sim_time = tt;
+ return sim_time;
+ }
+ inline void Setdt(float tt) { dt = tt; }
- inline void Setqbar(float tt) {qbar = tt;}
+ void SetParameter(int, float);
- 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;}
+ inline float 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; }
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 a; // speed of sound
float sim_time, dt;
- float Mach; // Mach number
FGFDMExec* FDMExec;
+ FGMatrix mTb2l;
+ FGMatrix mTl2b;
+ FGMatrix mTs2b;
+ FGColumnVector vQtrn;
-protected:
+ typedef map<string, long> CoeffMap;
+ CoeffMap coeffdef;
+protected:
+ enum {ePhi=1, eTht, ePsi};
+ enum {eP=1, eQ, eR};
};
/******************************************************************************/
projects / flightgear.git / blobdiff