Author: Jon S. Berndt
Date started: 09/13/00
- ------------- Copyright (C) 1999 Jon S. Berndt (jsb@hal-pc.org) -------------
+ ------------- Copyright (C) 1999 Jon S. Berndt (jon@jsbsim.org) -------------
This program is free software; you can redistribute it and/or modify it under
the terms of the GNU Lesser General Public License as published by the Free Software
INCLUDES
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-#ifdef FGFS
-# include <simgear/compiler.h>
-# ifdef SG_HAVE_STD_INCLUDES
-# include <vector>
-# include <map>
-# else
-# include <vector.h>
-# include <map.h>
-# endif
-#else
-# include <vector>
-# include <map>
-#endif
+#include <string>
+#include <vector>
+#include <map>
#include "FGModel.h"
-#include <math/FGFunction.h>
-#include <math/FGColumnVector3.h>
+#include "math/FGFunction.h"
+#include "math/FGColumnVector3.h"
+#include "math/FGMatrix33.h"
+#include "input_output/FGXMLFileRead.h"
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
DEFINITIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-#define ID_AERODYNAMICS "$Id$"
+#define ID_AERODYNAMICS "$Id: FGAerodynamics.h,v 1.21 2010/11/18 12:38:06 jberndt Exp $"
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FORWARD DECLARATIONS
@code
<aerodynamics>
- <axis name="{LIFT|DRAG|SIDE|ROLL|PITCH|YAW}">
+ <alphalimits unit="{RAD | DEG}">
+ <min> {number} </min>
+ <max> {number} </max>
+ </alphalimits>
+ <hysteresis_limits unit="{RAD | DEG}">
+ <min> {number} </min>
+ <max> {number} </max>
+ </hysteresis_limits>
+ <aero_ref_pt_shift_x>
+ <function>
+ {function contents}
+ </function>
+ </aero_ref_pt_shift_x>
+ <function>
+ {function contents}
+ </function>
+ <axis name="{LIFT | DRAG | SIDE | ROLL | PITCH | YAW}">
{force coefficient definitions}
</axis>
{additional axis definitions}
</aerodynamics>
@endcode
+ Optionally two other coordinate systems may be used.<br><br>
+ 1) Body coordinate system:
+ @code
+ <axis name="{X | Y | Z}">
+ @endcode
+ <br>
+ 2) Axial-Normal coordinate system:
+ @code
+ <axis name="{AXIAL | NORMAL}">
+ @endcode
+ <br>
+ Systems may NOT be combined, or a load error will occur.
+
@author Jon S. Berndt, Tony Peden
- @Id $Revision$
+ @version $Revision: 1.21 $
*/
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DECLARATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-class FGAerodynamics : public FGModel {
+class FGAerodynamics : public FGModel, public FGXMLFileRead
+{
public:
/** Constructor
/// Destructor
~FGAerodynamics();
+ bool InitModel(void);
+
/** Runs the Aerodynamics model; called by the Executive
@return false if no error */
bool Run(void);
/** Gets the total aerodynamic force vector.
@return a force vector reference. */
- FGColumnVector3& GetForces(void) {return vForces;}
+ const FGColumnVector3& GetForces(void) const {return vForces;}
/** Gets the aerodynamic force for an axis.
@param n Axis index. This could be 0, 1, or 2, or one of the
/** Gets the total aerodynamic moment vector.
@return a moment vector reference. */
- FGColumnVector3& GetMoments(void) {return vMoments;}
+ const FGColumnVector3& GetMoments(void) const {return vMoments;}
/** Gets the aerodynamic moment for an axis.
@return the moment about a single axis (as described also in the
similar call to GetForces(int n).*/
double GetMoments(int n) const {return vMoments(n);}
- /** Retrieves the aerodynamic forces in the stability axes.
- @return a reference to a column vector containing the stability axis forces. */
- FGColumnVector3& GetvFs(void) { return vFs; }
+ /** Retrieves the aerodynamic forces in the wind axes.
+ @return a reference to a column vector containing the wind axis forces. */
+ const FGColumnVector3& GetvFw(void) const { return vFw; }
- /** Retrieves the aerodynamic forces in the stability axes, given an axis.
+ /** Retrieves the aerodynamic forces in the wind axes, given an axis.
@param axis the axis to return the force for (eX, eY, eZ).
- @return a reference to a column vector containing the requested stability
+ @return a reference to a column vector containing the requested wind
axis force. */
- double GetvFs(int axis) const { return vFs(axis); }
+ double GetvFw(int axis) const { return vFw(axis); }
/** Retrieves the lift over drag ratio */
- inline double GetLoD(void) const { return lod; }
+ double GetLoD(void) const { return lod; }
/** Retrieves the square of the lift coefficient. */
- inline double GetClSquared(void) const { return clsq; }
- inline double GetAlphaCLMax(void) const { return alphaclmax; }
- inline double GetAlphaCLMin(void) const { return alphaclmin; }
+ double GetClSquared(void) const { return clsq; }
+ double GetAlphaCLMax(void) const { return alphaclmax; }
+ double GetAlphaCLMin(void) const { return alphaclmin; }
- inline double GetHysteresisParm(void) const { return stall_hyst; }
- inline double GetStallWarn(void) const { return impending_stall; }
+ double GetHysteresisParm(void) const { return stall_hyst; }
+ double GetStallWarn(void) const { return impending_stall; }
double GetAlphaW(void) const { return alphaw; }
double GetBI2Vel(void) const { return bi2vel; }
double GetCI2Vel(void) const { return ci2vel; }
- inline void SetAlphaCLMax(double tt) { alphaclmax=tt; }
- inline void SetAlphaCLMin(double tt) { alphaclmin=tt; }
+ void SetAlphaCLMax(double tt) { alphaclmax=tt; }
+ void SetAlphaCLMin(double tt) { alphaclmin=tt; }
/** Gets the strings for the current set of coefficients.
@param delimeter either a tab or comma string depending on output type
@return a string containing the descriptive names for all coefficients */
- std::string GetCoefficientStrings(std::string delimeter);
+ std::string GetCoefficientStrings(const std::string& delimeter) const;
/** Gets the coefficient values.
@param delimeter either a tab or comma string depending on output type
@return a string containing the numeric values for the current set of
coefficients */
- std::string GetCoefficientValues(std::string delimeter);
+ std::string GetCoefficientValues(const std::string& delimeter) const;
+
+ /** Calculates and returns the wind-to-body axis transformation matrix.
+ @return a reference to the wind-to-body transformation matrix.
+ */
+ FGMatrix33& GetTw2b(void);
+
+ /** Calculates and returns the body-to-wind axis transformation matrix.
+ @return a reference to the wind-to-body transformation matrix.
+ */
+ FGMatrix33& GetTb2w(void);
+
+ std::vector <FGFunction*> * GetCoeff(void) const { return Coeff; }
private:
+ enum eAxisType {atNone, atLiftDrag, atAxialNormal, atBodyXYZ} axisType;
typedef std::map<std::string,int> AxisIndex;
AxisIndex AxisIdx;
FGFunction* AeroRPShift;
- std::vector <FGFunction*> variables;
- typedef std::vector <FGFunction*> CoeffArray;
+ typedef vector <FGFunction*> CoeffArray;
CoeffArray* Coeff;
- FGColumnVector3 vFs;
+ FGColumnVector3 vFnative;
+ FGColumnVector3 vFw;
FGColumnVector3 vForces;
FGColumnVector3 vMoments;
- FGColumnVector3 vLastFs;
FGColumnVector3 vDXYZcg;
FGColumnVector3 vDeltaRP;
+ FGMatrix33 mTw2b;
+ FGMatrix33 mTb2w;
double alphaclmax, alphaclmin;
double alphahystmax, alphahystmin;
double impending_stall, stall_hyst;
double clsq, lod, qbar_area;
typedef double (FGAerodynamics::*PMF)(int) const;
+ void DetermineAxisSystem(void);
void bind(void);
- void unbind(void);
void Debug(int from);
};
projects / flightgear.git / blobdiff