/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
+
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
--------------------------------------------------------------------------------
-
-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
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
INCLUDES
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-#ifdef FGFS
-# include <simgear/compiler.h>
-# ifdef FG_HAVE_STD_INCLUDES
-# include <fstream>
-# else
-# include <fstream.h>
-# endif
-#else
-# include <fstream>
-#endif
-
+#include <fstream>
#include <string>
#include <map>
-#include "FGDefs.h"
-#include "FGInitialCondition.h"
-#include "FGMatrix.h"
+#include "FGJSBBase.h"
+#include <initialization/FGInitialCondition.h>
+#include <math/FGColumnVector3.h>
+#include <math/FGQuaternion.h>
+#include "FGFDMExec.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
FORWARD DECLARATIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-class FGAircraft;
-class FGTranslation;
-class FGRotation;
-class FGAtmosphere;
-class FGOutput;
-class FGPosition;
-
-/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-COMMENTS, REFERENCES, and NOTES [use "class documentation" below for API docs]
-%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+namespace JSBSim {
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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 $Revision$
+*/
+
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DECLARATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-class FGFDMExec;
-
-class FGState {
+class FGState : public FGJSBBase
+{
public:
+ /** Constructor
+ @param Executive a pointer to the parent executive object */
FGState(FGFDMExec*);
+ /// Destructor
~FGState();
- enum {ePhi=1, eTht, ePsi};
- enum {eP=1, eQ, eR};
- enum {eU=1, eV, eW};
- enum {eDrag=1, eSide, eLift};
-
- 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; }
+ /// Returns the cumulative simulation time in seconds.
+ inline double Getsim_time(void) const { return sim_time; }
- inline float Getsim_time(void) { return sim_time; }
- inline float Getdt(void) { return dt; }
+ /// Returns the simulation delta T.
+ inline double Getdt(void) {return dt;}
- inline void Suspend(void) {saved_dt = dt; dt = 0.0;}
- inline void Resume(void) {dt = saved_dt;}
+ /// Suspends the simulation and sets the delta T to zero.
+ inline void SuspendIntegration(void) {saved_dt = dt; dt = 0.0;}
- float GetParameter(eParam val_idx);
- float GetParameter(string val_string);
- eParam GetParameterIndex(string val_string);
+ /// Resumes the simulation by resetting delta T to the correct value.
+ inline void ResumeIntegration(void) {dt = saved_dt;}
- inline void Seta(float tt) { a = tt; }
+ /** Returns the simulation suspension state.
+ @return true if suspended, false if executing */
+ bool IntegrationSuspended(void) {return dt == 0.0;}
- inline float Setsim_time(float tt) {
- sim_time = tt;
+ /** Sets the current sim time.
+ @param cur_time the current time
+ @return the current simulation 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; }
- float GetTl2b(int i, int j) { return mTl2b(i,j);}
- FGMatrix GetTb2l(void) { return mTb2l; }
- float GetTb2l(int i, int j) { return mTb2l(i,j);}
- typedef map<eParam, string> ParamMap;
- ParamMap paramdef;
-private:
+ /** Prints a summary of simulator state (speed, altitude,
+ configuration, etc.) */
+// void ReportState(void);
- float a; // speed of sound
- float sim_time, dt;
- float saved_dt;
+private:
+ double sim_time, dt;
+ double saved_dt;
FGFDMExec* FDMExec;
- FGMatrix mTb2l;
- FGMatrix mTl2b;
- FGMatrix mTs2b;
- FGColumnVector vQtrn;
- FGColumnVector vlastQdot;
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;
- typedef map<string, eParam> CoeffMap;
- CoeffMap coeffdef;
- void Debug(void);
- int ActiveEngine;
+ void bind();
- FGColumnVector vQdot;
- FGColumnVector vTmp;
- FGColumnVector vEuler;
+ void Debug(int from);
};
-
+}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-#include "FGFDMExec.h"
-#include "FGAtmosphere.h"
-#include "FGFCS.h"
-#include "FGTranslation.h"
-#include "FGRotation.h"
-#include "FGPosition.h"
-//#include "FGAuxiliary.h"
-#include "FGOutput.h"
-#include "FGAircraft.h"
#endif
projects / flightgear.git / blobdiff