Author: Jon S. Berndt
Date started: 09/12/2000
- ------------- Copyright (C) 2000 Jon S. Berndt (jsb@hal-pc.org) --------------
+ ------------- Copyright (C) 2000 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
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#include "FGModel.h"
-#include <math/FGColumnVector3.h>
-#include <math/FGMatrix33.h>
-#include <input_output/FGXMLElement.h>
+#include "math/FGColumnVector3.h"
+#include "math/FGMatrix33.h"
+#include "input_output/FGXMLElement.h"
#include <vector>
+#include <string>
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
DEFINITIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-#define ID_MASSBALANCE "$Id$"
+#define ID_MASSBALANCE "$Id: FGMassBalance.h,v 1.27 2011/11/09 21:58:26 bcoconni Exp $"
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FORWARD DECLARATIONSS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+using std::string;
+
namespace JSBSim {
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DOCUMENTATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-/** Models weight and balance information.
+/** Models weight, balance and moment of inertia information. Maintains a vector
+ of point masses. Sums the contribution of all, and provides this to FGPropagate.
+ Loads the \<mass_balance> section of the aircraft configuration file. There
+ can be any number of <pointmasses>. Each can also have a shape which - if
+ present - causes an associated moment of inertia to be calculated based on
+ the shape. Note that a cylinder is solid, a tube is hollow, a ball is solid
+ and a sphere is hollow.
+
+ <h3>Configuration File Format:</h3>
+@code
+ <mass_balance>
+ <ixx unit="{SLUG*FT2 | KG*M2}"> {number} </ixx>
+ <iyy unit="{SLUG*FT2 | KG*M2}"> {number} </iyy>
+ <izz unit="{SLUG*FT2 | KG*M2}"> {number} </izz>
+ <ixy unit="{SLUG*FT2 | KG*M2}"> {number} </ixy>
+ <ixz unit="{SLUG*FT2 | KG*M2}"> {number} </ixz>
+ <iyz unit="{SLUG*FT2 | KG*M2}"> {number} </iyz>
+ <emptywt unit="{LBS | KG"> {number} </emptywt>
+ <location name="CG" unit="{IN | FT | M}">
+ <x> {number} </x>
+ <y> {number} </y>
+ <z> {number} </z>
+ </location>
+ [<pointmass name="{string}">
+ <form shape="{tube | cylinder | sphere | ball}">
+ <radius unit="{IN | FT | M}"> {number} </radius>
+ <length unit="{IN | FT | M}"> {number} </length>
+ </form>
+ <weight unit="{LBS | KG}"> {number} </weight>
+ <location name="{string}" unit="{IN | FT | M}">
+ <x> {number} </x>
+ <y> {number} </y>
+ <z> {number} </z>
+ </location>
+ </pointmass>
+ ... other point masses ...]
+ </mass_balance>
+@endcode
*/
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
~FGMassBalance();
bool Load(Element* el);
-
- bool Run(void);
-
- inline double GetMass(void) const {return Mass;}
- inline double GetWeight(void) const {return Weight;}
- inline FGColumnVector3& GetXYZcg(void) {return vXYZcg;}
- inline double GetXYZcg(int axis) const {return vXYZcg(axis);}
+ bool InitModel(void);
+ /** Runs the Mass Balance model; called by the Executive
+ Can pass in a value indicating if the executive is directing the simulation to Hold.
+ @param Holding if true, the executive has been directed to hold the sim from
+ advancing time. Some models may ignore this flag, such as the Input
+ model, which may need to be active to listen on a socket for the
+ "Resume" command to be given.
+ @return false if no error */
+ bool Run(bool Holding);
+
+ double GetMass(void) const {return Mass;}
+ double GetWeight(void) const {return Weight;}
+ double GetEmptyWeight(void) const {return EmptyWeight;}
+ const FGColumnVector3& GetXYZcg(void) const {return vXYZcg;}
+ double GetXYZcg(int axis) const {return vXYZcg(axis);}
+ const FGColumnVector3& GetDeltaXYZcg(void) const {return vDeltaXYZcg;}
+ double GetDeltaXYZcg(int axis) const {return vDeltaXYZcg(axis);}
/** Computes the inertia contribution of a pointmass.
Computes and returns the inertia matrix of a pointmass of mass
slugs at the given vector r in the structural frame. The units
should be for the mass in slug and the vector in the structural
frame as usual in inches.
- @param slugs the mass of this single pointmass given in slugs
+ @param mass_sl the mass of this single pointmass given in slugs
@param r the location of this single pointmass in the structural frame
*/
- FGMatrix33 GetPointmassInertia(double slugs, const FGColumnVector3& r) const
+ FGMatrix33 GetPointmassInertia(double mass_sl, const FGColumnVector3& r) const
{
FGColumnVector3 v = StructuralToBody( r );
- FGColumnVector3 sv = slugs*v;
+ FGColumnVector3 sv = mass_sl*v;
double xx = sv(1)*v(1);
double yy = sv(2)*v(2);
double zz = sv(3)*v(3);
*/
FGColumnVector3 StructuralToBody(const FGColumnVector3& r) const;
- inline void SetEmptyWeight(double EW) { EmptyWeight = EW;}
- inline void SetBaseCG(const FGColumnVector3& CG) {vbaseXYZcg = vXYZcg = CG;}
+ void SetEmptyWeight(double EW) { EmptyWeight = EW;}
+ void SetBaseCG(const FGColumnVector3& CG) {vbaseXYZcg = vXYZcg = CG;}
void AddPointMass(Element* el);
- double GetPointMassWeight(void);
- FGColumnVector3& GetPointMassMoment(void);
- FGMatrix33& GetJ(void) {return mJ;}
- FGMatrix33& GetJinv(void) {return mJinv;}
- void SetAircraftBaseInertias(FGMatrix33 BaseJ) {baseJ = BaseJ;}
-
- void bind(void);
- void unbind(void);
+ double GetTotalPointMassWeight(void) const;
+
+ const FGColumnVector3& GetPointMassMoment(void);
+ const FGMatrix33& GetJ(void) const {return mJ;}
+ const FGMatrix33& GetJinv(void) const {return mJinv;}
+ void SetAircraftBaseInertias(const FGMatrix33& BaseJ) {baseJ = BaseJ;}
+ void GetMassPropertiesReport(void) const;
+
+ struct Inputs {
+ double GasMass;
+ double TanksWeight;
+ FGColumnVector3 GasMoment;
+ FGMatrix33 GasInertia;
+ FGColumnVector3 TanksMoment;
+ FGMatrix33 TankInertia;
+ } in;
private:
double Weight;
FGMatrix33 pmJ;
FGMatrix33 baseJ;
FGColumnVector3 vXYZcg;
+ FGColumnVector3 vLastXYZcg;
+ FGColumnVector3 vDeltaXYZcg;
+ FGColumnVector3 vDeltaXYZcgBody;
FGColumnVector3 vXYZtank;
FGColumnVector3 vbaseXYZcg;
FGColumnVector3 vPMxyz;
FGColumnVector3 PointMassCG;
- FGMatrix33& CalculatePMInertias(void);
+ const FGMatrix33& CalculatePMInertias(void);
+
+ /** The PointMass structure encapsulates a point mass object, moments of inertia
+ mass, location, etc. */
struct PointMass {
PointMass(double w, FGColumnVector3& vXYZ) {
Weight = w;
Location = vXYZ;
+ mPMInertia.InitMatrix();
+ Radius = 0.0;
+ Length = 0.0;
+ }
+
+ void CalculateShapeInertia(void) {
+ switch(eShapeType) {
+ case esTube:
+ mPMInertia(1,1) = (Weight/(slugtolb))*Radius*Radius; // mr^2
+ mPMInertia(2,2) = (Weight/(slugtolb*12))*(6*Radius*Radius + Length*Length);
+ mPMInertia(3,3) = mPMInertia(2,2);
+ break;
+ case esCylinder:
+ mPMInertia(1,1) = (Weight/(slugtolb*2))*Radius*Radius; // 0.5*mr^2
+ mPMInertia(2,2) = (Weight/(slugtolb*12))*(3*Radius*Radius + Length*Length);
+ mPMInertia(3,3) = mPMInertia(2,2);
+ break;
+ case esSphere:
+ mPMInertia(1,1) = (Weight/(slugtolb*3))*Radius*Radius*2; // (2mr^2)/3
+ mPMInertia(2,2) = mPMInertia(1,1);
+ mPMInertia(3,3) = mPMInertia(1,1);
+ case esBall:
+ mPMInertia(1,1) = (Weight/(slugtolb*5))*Radius*Radius*2; // (2mr^2)/5
+ mPMInertia(2,2) = mPMInertia(1,1);
+ mPMInertia(3,3) = mPMInertia(1,1);
+ break;
+ default:
+ break;
+ }
}
+
+ enum esShape {esUnspecified, esTube, esCylinder, esSphere, esBall} eShapeType;
FGColumnVector3 Location;
- double Weight;
+ double Weight; /// Weight in pounds.
+ double Radius; /// Radius in feet.
+ double Length; /// Length in feet.
+ string Name;
+ FGMatrix33 mPMInertia;
+
+ double GetPointMassLocation(int axis) const {return Location(axis);}
+ double GetPointMassWeight(void) const {return Weight;}
+ esShape GetShapeType(void) {return eShapeType;}
+ const FGColumnVector3& GetLocation(void) {return Location;}
+ const FGMatrix33& GetPointMassInertia(void) {return mPMInertia;}
+ const string& GetName(void) {return Name;}
+
+ void SetPointMassLocation(int axis, double value) {Location(axis) = value;}
+ void SetPointMassWeight(double wt) {Weight = wt;}
+ void SetPointMassShapeType(esShape st) {eShapeType = st;}
+ void SetRadius(double r) {Radius = r;}
+ void SetLength(double l) {Length = l;}
+ void SetName(string name) {Name = name;}
+ double GetPointMassMoI(int r, int c) {return mPMInertia(r,c);}
+
+ void bind(FGPropertyManager* PropertyManager, int num);
};
- vector <struct PointMass> PointMasses;
+ std::vector <struct PointMass*> PointMasses;
+ void bind(void);
void Debug(int from);
};
}
projects / flightgear.git / blobdiff