#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
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
FORWARD DECLARATIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-class FGAircraft;
-class FGTranslation;
-class FGRotation;
-class FGAtmosphere;
-class FGOutput;
-class FGPosition;
-class FGFDMExec;
-class FGGroundReactions;
-class FGPropulsion;
-
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
COMMENTS, REFERENCES, and NOTES [use "class documentation" below for API docs]
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
CLASS DECLARATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+namespace JSBSim {
+
class FGState : public FGJSBBase
{
public:
/// Destructor
~FGState();
- /** Specifies the Reset file to use.
- The reset file normally resides in the same directory as an aircraft config file.
- it includes the following information:
- <ul>
- <li>U, the body X-Axis velocity</li>
- <li>V, the body Y-Axis velocity</li>
- <li>W, the body Z-Axis velocity</li>
- <li>Latitude measured in radians from the equator, negative values are south.</li>
- <li>Longitude, measured in radians from the Greenwich meridian, negative values are west.</li>
- <li>Phi, the roll angle in radians.</li>
- <li>Theta, the pitch attitude in radians.</li>
- <li>Psi, the heading angle in radians.</li>
- <li>H, the altitude in feet</li>
- <li>Wind Direction, the direction the wind is coming <u>from</u>.</li>
- <li>Wind magnitude, the wind speed in fps.</li>
- </ul>
- @param path the path string leading to the specific aircraft file, i.e. "aircraft".
- @param aircraft the name of the aircraft, i.e. "c172".
- @param filename the name of the reset file without an extension, i.e. "reset00".
- @return true if successful, false if the file could not be opened.
- */
- bool Reset(string path, string aircraft, string filename);
-
- /** Initializes the simulation state based on the passed-in parameters.
+ /** 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 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.
*/
void ReportState(void);
- inline string GetPropertyName(string prm) { return ParamNameToProp[prm]; }
- //inline string GetPropertyName(eParam prm) { return ParamIdxToProp[prm]; }
- //inline eParam GetParam(string property) { return PropToParam[property]; }
-
void bind();
void unbind();
FGMatrix33 mTs2b;
FGMatrix33 mTb2s;
FGColumnVector4 vQtrn;
- FGColumnVector4 vlastQdot;
+ FGColumnVector4 vQdot_prev[3];
FGColumnVector4 vQdot;
FGColumnVector3 vUVW;
FGColumnVector3 vLocalVelNED;
FGPropulsion* Propulsion;
FGPropertyManager* PropertyManager;
- /* typedef map<string, eParam> CoeffMap;
- CoeffMap coeffdef;
-
- typedef map<eParam, string> ParamMap;
- //ParamMap paramdef; */
-
-
- typedef map<string,string> ParamNameMap;
- ParamNameMap ParamNameToProp;
-
- typedef map<eParam,string> ParamIdxMap;
- ParamIdxMap ParamIdxToProp;
- //CoeffMap PropToParam;
-
- int ActiveEngine;
-
- void InitPropertyMaps(void);
-
void Debug(int from);
};
-
+}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-#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"
#endif
projects / flightgear.git / blobdiff