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
# include <fstream.h>
# endif
#else
-# include <fstream>
+# if defined(sgi) && !defined(__GNUC__)
+# include <fstream.h>
+# else
+# include <fstream>
+# endif
#endif
#include <string>
#include <map>
-#include "FGDefs.h"
+#include "FGJSBBase.h"
#include "FGInitialCondition.h"
-#include "FGMatrix.h"
+#include "FGMatrix33.h"
+#include "FGColumnVector3.h"
+#include "FGColumnVector4.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"
+
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+DEFINITIONS
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+#define ID_STATE "$Id$"
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+FORWARD DECLARATIONS
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+COMMENTS, REFERENCES, and NOTES [use "class documentation" below for API docs]
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-DEFINES
+CLASS DOCUMENTATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-#define ID_STATE "$Header$"
+/** Encapsulates the calculation of aircraft state.
+ @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>
+*/
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DECLARATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-class FGFDMExec;
+namespace JSBSim {
-class FGState {
+class FGState : public FGJSBBase
+{
public:
+ /** Constructor
+ @param Executive a pointer to the parent executive object */
FGState(FGFDMExec*);
- ~FGState(void);
+ /// 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);
- 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 speed of sound in feet per second.
+ inline double Geta(void) { return a; }
- inline float Getsim_time(void) { return sim_time; }
- inline float Getdt(void) { return dt; }
+ /// Returns the simulation time in seconds.
+ inline double Getsim_time(void) const { return sim_time; }
+ /// Returns the simulation delta T.
+ 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;}
- float GetParameter(eParam val_idx);
- float GetParameter(string val_string);
- eParam GetParameterIndex(string val_string);
-
-
- inline void Seta(float tt) { a = tt; }
+ /** Sets the speed of sound.
+ @param speed the speed of sound in feet per second.
+ */
+ inline void Seta(double speed) { a = speed; }
- inline float Setsim_time(float tt) {
- sim_time = tt;
+ /** Sets the current sim time.
+ @param cur_time the current time
+ @return the current time.
+ */
+ inline double Setsim_time(double cur_time) {
+ sim_time = cur_time;
return sim_time;
}
- inline void Setdt(float tt) { dt = tt; }
+
+ /** 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; }
- void SetParameter(eParam, float);
-
- 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);
+
+ /** 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);
- 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; }
- typedef map<eParam, string> ParamMap;
- ParamMap paramdef;
-private:
+ /** 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);
- float a; // speed of sound
- float sim_time, dt;
- float saved_dt;
+ /** 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();
+
+private:
+ double a; // speed of sound
+ double sim_time, dt;
+ double saved_dt;
FGFDMExec* FDMExec;
- FGMatrix mTb2l;
- FGMatrix mTl2b;
- FGMatrix mTs2b;
- FGColumnVector vQtrn;
+ 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;
- typedef map<string, eParam> CoeffMap;
- CoeffMap coeffdef;
+ FGAircraft* Aircraft;
+ FGPosition* Position;
+ FGTranslation* Translation;
+ FGRotation* Rotation;
+ FGOutput* Output;
+ FGAtmosphere* Atmosphere;
+ FGFCS* FCS;
+ FGAerodynamics* Aerodynamics;
+ FGGroundReactions* GroundReactions;
+ FGPropulsion* Propulsion;
+ FGPropertyManager* PropertyManager;
-protected:
- enum {ePhi=1, eTht, ePsi};
- enum {eP=1, eQ, eR};
+ void Debug(int from);
};
-
+}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+
#endif
+