Removed FGMatrix.* because it is no longer used by JSBSim.

[flightgear.git] / src / FDM / JSBSim / FGTranslation.cpp

diff --git a/src/FDM/JSBSim/FGTranslation.cpp b/src/FDM/JSBSim/FGTranslation.cpp
index 6c5c37aa21e515186bdd5a3962ac339c0714e3d1..fe6714dfe97dd24cef98762f6eedd3d00865fc60 100644 (file)
--- a/src/FDM/JSBSim/FGTranslation.cpp
+++ b/src/FDM/JSBSim/FGTranslation.cpp
@@ -77,12 +77,7 @@ CLASS IMPLEMENTATION
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 
-FGTranslation::FGTranslation(FGFDMExec* fdmex) : FGModel(fdmex),
-    vUVW(3),
-    vUVWdot(3),
-    vlastUVWdot(3),
-    mVel(3,3),
-    vAero(3)
+FGTranslation::FGTranslation(FGFDMExec* fdmex) : FGModel(fdmex)
 {
   Name = "FGTranslation";
   qbar = 0;
@@ -91,14 +86,14 @@ FGTranslation::FGTranslation(FGFDMExec* fdmex) : FGModel(fdmex),
   alpha = beta = 0.0;
   adot = bdot = 0.0;
 
-  if (debug_lvl & 2) cout << "Instantiated: " << Name << endl;
+  Debug(0);
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-FGTranslation::~FGTranslation()
+FGTranslation::~FGTranslation(void)
 {
-  if (debug_lvl & 2) cout << "Destroyed:    FGTranslation" << endl;
+  Debug(1);
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -122,29 +117,29 @@ bool FGTranslation::Run(void)
     vUVWdot = mVel*Rotation->GetPQR() + Aircraft->GetBodyAccel();
 
     vUVW += Tc * (vlastUVWdot + vUVWdot);
-    vAero = vUVW + State->GetTl2b()*Atmosphere->GetWindNED();
+    vAeroUVW = vUVW + State->GetTl2b()*Atmosphere->GetWindNED();
 
-    Vt = vAero.Magnitude();
+    Vt = vAeroUVW.Magnitude();
     if ( Vt > 1) {
-      if (vAero(eW) != 0.0)
-        alpha = vAero(eU)*vAero(eU) > 0.0 ? atan2(vAero(eW), vAero(eU)) : 0.0;
-      if (vAero(eV) != 0.0)
-        beta = vAero(eU)*vAero(eU)+vAero(eW)*vAero(eW) > 0.0 ? atan2(vAero(eV),
-               sqrt(vAero(eU)*vAero(eU) + vAero(eW)*vAero(eW))) : 0.0;
+      if (vAeroUVW(eW) != 0.0)
+        alpha = vAeroUVW(eU)*vAeroUVW(eU) > 0.0 ? atan2(vAeroUVW(eW), vAeroUVW(eU)) : 0.0;
+      if (vAeroUVW(eV) != 0.0)
+        beta = vAeroUVW(eU)*vAeroUVW(eU)+vAeroUVW(eW)*vAeroUVW(eW) > 0.0 ? atan2(vAeroUVW(eV),
+               sqrt(vAeroUVW(eU)*vAeroUVW(eU) + vAeroUVW(eW)*vAeroUVW(eW))) : 0.0;
 
       // stolen, quite shamelessly, from LaRCsim
-      double mUW = (vAero(eU)*vAero(eU) + vAero(eW)*vAero(eW));
+      double mUW = (vAeroUVW(eU)*vAeroUVW(eU) + vAeroUVW(eW)*vAeroUVW(eW));
       double signU=1;
-      if (vAero(eU) != 0.0)
-        signU = vAero(eU)/fabs(vAero(eU));
+      if (vAeroUVW(eU) != 0.0)
+        signU = vAeroUVW(eU)/fabs(vAeroUVW(eU));
 
       if ( (mUW == 0.0) || (Vt == 0.0) ) {
         adot = 0.0;
         bdot = 0.0;
       } else {
-        adot = (vAero(eU)*vAero(eW) - vAero(eW)*vUVWdot(eU))/mUW;
-        bdot = (signU*mUW*vUVWdot(eV) - vAero(eV)*(vAero(eU)*vUVWdot(eU)
-                + vAero(eW)*vUVWdot(eW)))/(Vt*Vt*sqrt(mUW));
+        adot = (vAeroUVW(eU)*vAeroUVW(eW) - vAeroUVW(eW)*vUVWdot(eU))/mUW;
+        bdot = (signU*mUW*vUVWdot(eV) - vAeroUVW(eV)*(vAeroUVW(eU)*vUVWdot(eU)
+                + vAeroUVW(eW)*vUVWdot(eW)))/(Vt*Vt*sqrt(mUW));
       }
     } else {
       alpha = beta = adot = bdot = 0;
@@ -155,7 +150,7 @@ bool FGTranslation::Run(void)
 
     vlastUVWdot = vUVWdot;
 
-    if (debug_lvl > 1) Debug();
+    if (debug_lvl > 1) Debug(1);
 
     return false;
   } else {
@@ -164,10 +159,42 @@ bool FGTranslation::Run(void)
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGTranslation::Debug(void)
+//    The bitmasked value choices are as follows:
+//    unset: In this case (the default) JSBSim would only print
+//       out the normally expected messages, essentially echoing
+//       the config files as they are read. If the environment
+//       variable is not set, debug_lvl is set to 1 internally
+//    0: This requests JSBSim not to output any messages
+//       whatsoever.
+//    1: This value explicity requests the normal JSBSim
+//       startup messages
+//    2: This value asks for a message to be printed out when
+//       a class is instantiated
+//    4: When this value is set, a message is displayed when a
+//       FGModel object executes its Run() method
+//    8: When this value is set, various runtime state variables
+//       are printed out periodically
+//    16: When set various parameters are sanity checked and
+//       a message is printed out when they go out of bounds
+
+void FGTranslation::Debug(int from)
 {
-  if (debug_lvl & 16) { // Sanity check variables
+  if (debug_lvl <= 0) return;
+
+  if (debug_lvl & 1) { // Standard console startup message output
+    if (from == 0) { // Constructor
+
+    }
+  }
+  if (debug_lvl & 2 ) { // Instantiation/Destruction notification
+    if (from == 0) cout << "Instantiated: FGTranslation" << endl;
+    if (from == 1) cout << "Destroyed:    FGTranslation" << endl;
+  }
+  if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
+  }
+  if (debug_lvl & 8 ) { // Runtime state variables
+  }
+  if (debug_lvl & 16) { // Sanity checking
     if (fabs(vUVW(eU)) > 1e6)
       cout << "FGTranslation::U velocity out of bounds: " << vUVW(eU) << endl;
     if (fabs(vUVW(eV)) > 1e6)
@@ -185,5 +212,11 @@ void FGTranslation::Debug(void)
     if (qbar > 1e6 || qbar < 0.00)
       cout << "FGTranslation::qbar is out of bounds: " << qbar << endl;
   }
+  if (debug_lvl & 64) {
+    if (from == 0) { // Constructor
+      cout << IdSrc << endl;
+      cout << IdHdr << endl;
+    }
+  }
 }