-/*******************************************************************************
-
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
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
-*******************************************************************************/
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#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>
#endif
+#include <string>
#include <map>
#include "FGDefs.h"
#include "FGInitialCondition.h"
#include "FGMatrix.h"
-/*******************************************************************************
-DEFINES
-*******************************************************************************/
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+DEFINITIONS
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+#define ID_STATE "$Id$"
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+FORWARD DECLARATIONS
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-using namespace std;
+class FGAircraft;
+class FGTranslation;
+class FGRotation;
+class FGAtmosphere;
+class FGOutput;
+class FGPosition;
-/*******************************************************************************
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+COMMENTS, REFERENCES, and NOTES [use "class documentation" below for API docs]
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+CLASS DOCUMENTATION
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DECLARATION
-*******************************************************************************/
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
class FGFDMExec;
-class FGState
-{
+class FGState {
public:
- FGState(FGFDMExec*);
- ~FGState(void);
+ FGState(FGFDMExec*);
+ ~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);
void Initialize(FGInitialCondition *FGIC);
bool StoreData(string);
- 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 Geta(void) { return a; }
- 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 Getsim_time(void) {return sim_time;}
- inline float Getdt(void) {return dt;}
+ inline void Suspend(void) {saved_dt = dt; dt = 0.0;}
+ inline void Resume(void) {dt = saved_dt;}
- inline float Getqbar(void) {return qbar;}
- float GetParameter(int val_idx);
+ float GetParameter(eParam val_idx);
float GetParameter(string val_string);
- int GetParameterIndex(string val_string);
-
- 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;}
+ eParam GetParameterIndex(string val_string);
- inline void Setqbar(float tt) {qbar = tt;}
+ inline void Seta(float tt) { a = 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 Setsim_time(float tt) {sim_time = tt; return sim_time;}
- inline void Setdt(float tt) {dt = tt;}
+ void SetParameter(eParam, float);
- void SetParameter(int, float);
-
- 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;}
+ 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:
- 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
+ float saved_dt;
FGFDMExec* FDMExec;
- float LocalAltitudeOverRunway;
FGMatrix mTb2l;
FGMatrix mTl2b;
FGMatrix mTs2b;
FGColumnVector vQtrn;
-
- typedef map<string, long> CoeffMap;
+ FGColumnVector vlastQdot;
+
+ FGAircraft* Aircraft;
+ FGPosition* Position;
+ FGTranslation* Translation;
+ FGRotation* Rotation;
+ FGOutput* Output;
+ FGAtmosphere* Atmosphere;
+ FGFCS* FCS;
+ FGAerodynamics* Aerodynamics;
+
+ typedef map<string, eParam> CoeffMap;
CoeffMap coeffdef;
+ void Debug(void);
+ int ActiveEngine;
-protected:
- enum {ePhi=1, eTht, ePsi};
- enum {eP=1, eQ, eR};
+ FGColumnVector vQdot;
+ FGColumnVector vTmp;
+ FGColumnVector vEuler;
};
-/******************************************************************************/
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+#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"
+
#endif
+
projects / flightgear.git / blobdiff