-/*******************************************************************************
-
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
Header: FGTranslation.h
Author: Jon Berndt
Date started: 12/02/98
-
+
------------- 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.
-
+
HISTORY
--------------------------------------------------------------------------------
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
Wiley & Sons, 1979 ISBN 0-471-03032-5
[5] Bernard Etkin, "Dynamics of Flight, Stability and Control", Wiley & Sons,
1982 ISBN 0-471-08936-2
-
+
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 <Include/compiler.h>
-# ifdef FG_HAVE_STD_INCLUDES
+# include <simgear/compiler.h>
+# 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 "FGMatrix33.h"
+#include "FGColumnVector3.h"
+#include "FGColumnVector4.h"
-using namespace std;
+#define ID_TRANSLATION "$Id$"
-/*******************************************************************************
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DECLARATION
-*******************************************************************************/
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-class FGTranslation : public FGModel
-{
+class FGTranslation : public FGModel {
public:
- FGTranslation(FGFDMExec*);
- ~FGTranslation(void);
-
- inline float GetU(void) {return U;}
- inline float GetV(void) {return V;}
- inline float GetW(void) {return W;}
-
- inline float GetUdot(void) {return Udot;}
- inline float GetVdot(void) {return Vdot;}
- inline float GetWdot(void) {return Wdot;}
-
- inline float Getalpha(void) {return alpha;}
- inline float Getbeta (void) {return beta; }
- inline float Getgamma(void) {return gamma;}
-
- inline void SetU(float tt) {U = tt;}
- inline void SetV(float tt) {V = tt;}
- inline void SetW(float tt) {W = tt;}
-
- inline void SetUVW(float t1, float t2, float t3) {U=t1; V=t2; W=t3;}
-
- inline void Setalpha(float tt) {alpha = tt;}
- inline void Setbeta (float tt) {beta = tt;}
- inline void Setgamma(float tt) {gamma = tt;}
-
- inline void SetABG(float t1, float t2, float t3) {alpha=t1; beta=t2; gamma=t3;}
-
- bool Run(void);
-
-protected:
+ FGTranslation(FGFDMExec*);
+ ~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);
private:
- float U, V, W; // Body frame velocities owned by FGTranslation
- float P, Q, R;
- float Vt, qbar;
- float Udot, Vdot, Wdot;
- float lastUdot, lastVdot, lastWdot;
- float phi, tht, psi;
- float Fx, Fy, Fz;
- float Mass, dt;
- float alpha, beta, gamma;
- float rho;
-
- void GetState(void);
- void PutState(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
+
projects / flightgear.git / blobdiff