/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
+
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
+ the terms of the GNU Lesser 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
+ FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
details.
-
- You should have received a copy of the GNU General Public License along with
+
+ You should have received a copy of the GNU Lesser 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
+
+ Further information about the GNU Lesser 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
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
INCLUDES
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-#ifdef FGFS
-# include <simgear/compiler.h>
-# ifdef SG_HAVE_STD_INCLUDES
-# include <fstream>
-# else
-# include <fstream.h>
-# endif
-#else
-# if defined(sgi) && !defined(__GNUC__)
-# include <fstream.h>
-# else
-# include <fstream>
-# endif
-#endif
-
+#include <fstream>
#include <string>
#include <map>
#include "FGJSBBase.h"
-#include "FGInitialCondition.h"
-#include "FGMatrix33.h"
-#include "FGColumnVector3.h"
-#include "FGColumnVector4.h"
-
+#include <initialization/FGInitialCondition.h>
+#include <math/FGColumnVector3.h>
+#include <math/FGQuaternion.h>
#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"
-
+#include <models/FGAtmosphere.h>
+#include <models/FGFCS.h>
+#include <models/FGPropagate.h>
+#include <models/FGAuxiliary.h>
+#include <models/FGAerodynamics.h>
+#include <models/FGAircraft.h>
+#include <models/FGGroundReactions.h>
+#include <models/FGPropulsion.h>
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
DEFINITIONS
namespace JSBSim {
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-COMMENTS, REFERENCES, and NOTES [use "class documentation" below for API docs]
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DOCUMENTATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
/** Encapsulates the calculation of aircraft state.
+ <h3>Properties</h3>
+ @property sim-time-sec (read only) cumulative simulation in seconds.
@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>
+ @version $Revision$
*/
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
/// Destructor
~FGState();
- /** 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.
- */
+ @see FGInitialConditions. */
void Initialize(FGInitialCondition *FGIC);
- /// returns the speed of sound in feet per second.
- inline double Geta(void) { return a; }
-
- /// Returns the simulation time in seconds.
+ /// Returns the cumulative simulation time in seconds.
inline double Getsim_time(void) const { return sim_time; }
+
/// Returns the simulation delta T.
- inline double 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;}
+ inline void SuspendIntegration(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;}
+ inline void ResumeIntegration(void) {dt = saved_dt;}
- /** Sets the speed of sound.
- @param speed the speed of sound in feet per second.
- */
- inline void Seta(double speed) { a = speed; }
+ /** Returns the simulation suspension state.
+ @return true if suspended, false if executing */
+ bool IntegrationSuspended(void) {return dt == 0.0;}
/** Sets the current sim time.
@param cur_time the current time
- @return the current time.
- */
+ @return the current simulation 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.
- */
+ @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.
- */
+ @return the new simulation time. */
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(double phi, double tht, double 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);
-
- // ======================================= General Purpose INTEGRATOR
-
- enum iType {AB4, AB3, AB2, AM3, EULER, TRAPZ};
-
- /** Multi-method integrator.
- @param type Type of intergation scheme to use. Can be one of:
- <ul>
- <li>AB4 - Adams-Bashforth, fourth order</li>
- <li>AB3 - Adams-Bashforth, third order</li>
- <li>AB2 - Adams-Bashforth, second order</li>
- <li>AM3 - Adams Moulton, third order</li>
- <li>EULER - Euler</li>
- <li>TRAPZ - Trapezoidal</li>
- </ul>
- @param delta_t the integration time step in seconds
- @param vTDeriv a reference to the current value of the time derivative of
- the quantity being integrated (i.e. if vUVW is being integrated
- vTDeriv is the current value of vUVWdot)
- @param vLastArray an array of previously calculated and saved values of
- the quantity being integrated (i.e. if vUVW is being integrated
- vLastArray[0] is the past value of vUVWdot, vLastArray[1] is the value of
- vUVWdot prior to that, etc.)
- @return the current, incremental value of the item integrated to add to the
- previous value. */
-
- template <class T> T Integrate(iType type, double delta_t, T& vTDeriv, T *vLastArray)
- {
- T vResult;
-
- switch (type) {
- case AB4:
- vResult = (delta_t/24.0)*( 55.0 * vTDeriv
- - 59.0 * vLastArray[0]
- + 37.0 * vLastArray[1]
- - 9.0 * vLastArray[2] );
- vLastArray[2] = vLastArray[1];
- vLastArray[1] = vLastArray[0];
- vLastArray[0] = vTDeriv;
- break;
- case AB3:
- vResult = (delta_t/12.0)*( 23.0 * vTDeriv
- - 16.0 * vLastArray[0]
- + 5.0 * vLastArray[1] );
- vLastArray[1] = vLastArray[0];
- vLastArray[0] = vTDeriv;
- break;
- case AB2:
- vResult = (delta_t/2.0)*( 3.0 * vTDeriv - vLastArray[0] );
- vLastArray[0] = vTDeriv;
- break;
- case AM3:
- vResult = (delta_t/12.0)*( 5.0 * vTDeriv
- + 8.0 * vLastArray[0]
- - 1.0 * vLastArray[1] );
- vLastArray[1] = vLastArray[0];
- vLastArray[0] = vTDeriv;
- break;
- case EULER:
- vResult = delta_t * vTDeriv;
- break;
- case TRAPZ:
- vResult = (delta_t*0.5) * (vTDeriv + vLastArray[0]);
- vLastArray[0] = vTDeriv;
- break;
- }
-
- return vResult;
- }
-
- // =======================================
-
- /** 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);}
-
- /** 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);
-
- void bind();
- void unbind();
+ /** Prints a summary of simulator state (speed, altitude,
+ configuration, etc.) */
+// void ReportState(void);
private:
- double a; // speed of sound
double sim_time, dt;
double saved_dt;
FGFDMExec* FDMExec;
- FGMatrix33 mTb2l;
- FGMatrix33 mTl2b;
- FGMatrix33 mTs2b;
- FGMatrix33 mTb2s;
- FGColumnVector4 vQtrn;
- FGColumnVector4 vQdot_prev[3];
- FGColumnVector4 vQdot;
- FGColumnVector3 vUVW;
- FGColumnVector3 vLocalVelNED;
- FGColumnVector3 vLocalEuler;
-
- FGColumnVector4 vTmp;
- FGColumnVector3 vEuler;
FGAircraft* Aircraft;
- FGPosition* Position;
- FGTranslation* Translation;
- FGRotation* Rotation;
- FGOutput* Output;
+ FGPropagate* Propagate;
FGAtmosphere* Atmosphere;
FGFCS* FCS;
FGAerodynamics* Aerodynamics;
FGGroundReactions* GroundReactions;
FGPropulsion* Propulsion;
+ FGAuxiliary* Auxiliary;
FGPropertyManager* PropertyManager;
+ void bind();
+
void Debug(int from);
};
}
projects / flightgear.git / blobdiff