-/*******************************************************************************
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
Header: FGTranslation.h
Author: Jon Berndt
--------------------------------------------------------------------------------
12/02/98 JSB Created
-********************************************************************************
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
COMMENTS, REFERENCES, and NOTES
-********************************************************************************
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
[1] Cooke, Zyda, Pratt, and McGhee, "NPSNET: Flight Simulation Dynamic Modeling
Using Quaternions", Presence, Vol. 1, No. 4, pp. 404-420 Naval Postgraduate
School, January 1994
The order of rotations used in this class corresponds to a 3-2-1 sequence,
or Y-P-R, or Z-Y-X, if you prefer.
-********************************************************************************
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
SENTRY
-*******************************************************************************/
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#ifndef FGTRANSLATION_H
#define FGTRANSLATION_H
-/*******************************************************************************
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
INCLUDES
-*******************************************************************************/
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#ifdef FGFS
# include <simgear/compiler.h>
-# ifdef FG_HAVE_STD_INCLUDES
+# ifdef SG_HAVE_STD_INCLUDES
# include <cmath>
# else
# include <math.h>
# endif
#else
-# include <cmath>
+# if defined(sgi) && !defined(__GNUC__)
+# include <math.h>
+# else
+# include <cmath>
+# endif
#endif
#include "FGModel.h"
-#include "FGMatrix.h"
+#include "FGMatrix33.h"
+#include "FGColumnVector3.h"
+#include "FGColumnVector4.h"
-/*******************************************************************************
+#define ID_TRANSLATION "$Id$"
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DECLARATION
-*******************************************************************************/
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
class FGTranslation : public FGModel {
public:
FGTranslation(FGFDMExec*);
- ~FGTranslation(void);
-
- inline FGColumnVector GetUVW(void) { return vUVW; }
- inline FGColumnVector GetUVWdot(void) { return vUVWdot; }
- inline FGColumnVector GetNcg(void) { return vNcg; }
-
- inline float Getalpha(void) { return alpha; }
- inline float Getbeta (void) { return beta; }
- inline float Getqbar (void) { return qbar; }
- inline float GetVt (void) { return Vt; }
- inline float GetMach (void) { return Mach; }
- inline float Getadot (void) { return adot; }
- inline float Getbdot (void) { return bdot; }
-
- void SetUVW(FGColumnVector tt) { vUVW = tt; }
-
- inline void Setalpha(float tt) { alpha = tt; }
- inline void Setbeta (float tt) { beta = tt; }
- inline void Setqbar (float tt) { qbar = tt; }
- inline void SetVt (float tt) { Vt = tt; }
- inline void SetMach (float tt) { Mach=tt; }
- inline void Setadot (float tt) { adot = tt; }
- inline void Setbdot (float tt) { bdot = tt; }
-
- inline void SetAB(float t1, float t2) { alpha=t1; beta=t2; }
-
+ ~FGTranslation();
+
+ inline FGColumnVector3& GetUVW (void) { return vUVW; }
+ inline double GetUVW (int idx) { return vUVW(idx); }
+ inline FGColumnVector3& GetUVWdot(void) { return vUVWdot; }
+ inline double GetUVWdot(int idx) { return vUVWdot(idx); }
+ inline FGColumnVector3& GetvAeroUVW (void) { return vAeroUVW; }
+ inline double GetvAeroUVW (int idx) { return vAeroUVW(idx); }
+
+ inline double Getalpha(void) { return alpha; }
+ inline double Getbeta (void) { return beta; }
+ inline double Getqbar (void) { return qbar; }
+ inline double GetVt (void) { return Vt; }
+ inline double GetMach (void) { return Mach; }
+ inline double Getadot (void) { return adot; }
+ inline double Getbdot (void) { return bdot; }
+
+ void SetUVW(FGColumnVector3 tt) { vUVW = tt; }
+
+ inline void Setalpha(double tt) { alpha = tt; }
+ inline void Setbeta (double tt) { beta = tt; }
+ inline void Setqbar (double tt) { qbar = tt; }
+ inline void SetVt (double tt) { Vt = tt; }
+ inline void SetMach (double tt) { Mach=tt; }
+ inline void Setadot (double tt) { adot = tt; }
+ inline void Setbdot (double tt) { bdot = tt; }
+
+ inline void SetAB(double t1, double t2) { alpha=t1; beta=t2; }
+
bool Run(void);
-protected:
-
private:
- FGColumnVector vUVW,vWindUVW;
- FGColumnVector vUVWdot;
- FGColumnVector vNcg;
- FGColumnVector vPQR;
- FGColumnVector vForces;
- FGColumnVector vEuler;
-
- float Vt, qbar, Mach;
- float Mass, dt;
- float alpha, beta;
- float adot,bdot;
- float rho;
-
- void GetState(void);
+ FGColumnVector3 vUVW;
+ FGColumnVector3 vUVWdot;
+ FGColumnVector3 vlastUVWdot;
+ FGMatrix33 mVel;
+ FGColumnVector3 vAeroUVW;
+
+ double Vt, qbar, Mach;
+ double dt;
+ double alpha, beta;
+ double adot,bdot;
+
+ void Debug(int from);
};
-/******************************************************************************/
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
#endif
+