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
+[6] S. Buss, "Accurate and Efficient Simulation of Rigid Body Rotations",
+ Technical Report, Department of Mathematics, University of California,
+ San Diego, 1999
+[7] Barker L.E., Bowles R.L. and Williams L.H., "Development and Application of
+ a Local Linearization Algorithm for the Integration of Quaternion Rate
+ Equations in Real-Time Flight Simulation Problems", NASA TN D-7347,
+ December 1973
+[8] Phillips W.F, Hailey C.E and Gebert G.A, "Review of Attitude Representations
+ Used for Aircraft Kinematics", Journal Of Aircraft Vol. 38, No. 4,
+ July-August 2001
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
INCLUDES
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#include <cmath>
+#include <cstdlib>
+#include <iostream>
#include <iomanip>
#include "FGPropagate.h"
-#include <FGFDMExec.h>
-#include <FGState.h>
-#include "FGAircraft.h"
-#include "FGMassBalance.h"
-#include "FGInertial.h"
-#include <input_output/FGPropertyManager.h>
+#include "FGGroundReactions.h"
+#include "FGFDMExec.h"
+#include "input_output/FGPropertyManager.h"
+
+using namespace std;
namespace JSBSim {
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGPropagate.cpp,v 1.105 2012/03/26 21:26:11 bcoconni Exp $";
static const char *IdHdr = ID_PROPAGATE;
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS IMPLEMENTATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-FGPropagate::FGPropagate(FGFDMExec* fdmex) : FGModel(fdmex)
+FGPropagate::FGPropagate(FGFDMExec* fdmex)
+ : FGModel(fdmex),
+ VehicleRadius(0)
{
Debug(0);
Name = "FGPropagate";
- last2_vPQRdot.InitMatrix();
- last_vPQRdot.InitMatrix();
- vPQRdot.InitMatrix();
-
- last2_vQtrndot = FGQuaternion(0,0,0);
- last_vQtrndot = FGQuaternion(0,0,0);
- vQtrndot = FGQuaternion(0,0,0);
-
- last2_vUVWdot.InitMatrix();
- last_vUVWdot.InitMatrix();
- vUVWdot.InitMatrix();
-
- last2_vLocationDot.InitMatrix();
- last_vLocationDot.InitMatrix();
- vLocationDot.InitMatrix();
-
- vOmegaLocal.InitMatrix();
-
- integrator_rotational_rate = eAdamsBashforth2;
- integrator_translational_rate = eTrapezoidal;
- integrator_rotational_position = eAdamsBashforth2;
- integrator_translational_position = eTrapezoidal;
+ vInertialVelocity.InitMatrix();
+
+ /// These define the indices use to select the various integrators.
+ // eNone = 0, eRectEuler, eTrapezoidal, eAdamsBashforth2, eAdamsBashforth3, eAdamsBashforth4};
+
+ integrator_rotational_rate = eRectEuler;
+ integrator_translational_rate = eAdamsBashforth2;
+ integrator_rotational_position = eRectEuler;
+ integrator_translational_position = eAdamsBashforth3;
+
+ VState.dqPQRidot.resize(4, FGColumnVector3(0.0,0.0,0.0));
+ VState.dqUVWidot.resize(4, FGColumnVector3(0.0,0.0,0.0));
+ VState.dqInertialVelocity.resize(4, FGColumnVector3(0.0,0.0,0.0));
+ VState.dqQtrndot.resize(4, FGQuaternion(0.0,0.0,0.0));
bind();
Debug(0);
bool FGPropagate::InitModel(void)
{
- if (!FGModel::InitModel()) return false;
-
// For initialization ONLY:
- SeaLevelRadius = LocalTerrainRadius = Inertial->GetRefRadius();
-
- VState.vLocation.SetRadius( LocalTerrainRadius + 4.0 );
- VState.vLocation.SetEllipse(Inertial->GetSemimajor(), Inertial->GetSemiminor());
- vOmega = FGColumnVector3( 0.0, 0.0, Inertial->omega() ); // Earth rotation vector
-
- last2_vPQRdot.InitMatrix();
- last_vPQRdot.InitMatrix();
- vPQRdot.InitMatrix();
-
- last2_vQtrndot = FGQuaternion(0,0,0);
- last_vQtrndot = FGQuaternion(0,0,0);
- vQtrndot = FGQuaternion(0,0,0);
-
- last2_vUVWdot.InitMatrix();
- last_vUVWdot.InitMatrix();
- vUVWdot.InitMatrix();
-
- last2_vLocationDot.InitMatrix();
- last_vLocationDot.InitMatrix();
- vLocationDot.InitMatrix();
-
- vOmegaLocal.InitMatrix();
-
- integrator_rotational_rate = eAdamsBashforth2;
- integrator_translational_rate = eTrapezoidal;
- integrator_rotational_position = eAdamsBashforth2;
- integrator_translational_position = eTrapezoidal;
+ VState.vLocation.SetEllipse(in.SemiMajor, in.SemiMinor);
+ VState.vLocation.SetAltitudeAGL(4.0, FDMExec->GetSimTime());
+
+ vInertialVelocity.InitMatrix();
+
+ VState.dqPQRidot.resize(4, FGColumnVector3(0.0,0.0,0.0));
+ VState.dqUVWidot.resize(4, FGColumnVector3(0.0,0.0,0.0));
+ VState.dqInertialVelocity.resize(4, FGColumnVector3(0.0,0.0,0.0));
+ VState.dqQtrndot.resize(4, FGColumnVector3(0.0,0.0,0.0));
+
+ integrator_rotational_rate = eRectEuler;
+ integrator_translational_rate = eAdamsBashforth2;
+ integrator_rotational_position = eRectEuler;
+ integrator_translational_position = eAdamsBashforth3;
return true;
}
void FGPropagate::SetInitialState(const FGInitialCondition *FGIC)
{
- SetSeaLevelRadius(FGIC->GetSeaLevelRadiusFtIC());
- SetTerrainElevation(FGIC->GetTerrainElevationFtIC());
+ // Initialize the State Vector elements and the transformation matrices
// Set the position lat/lon/radius
- VState.vLocation.SetPosition( FGIC->GetLongitudeRadIC(),
- FGIC->GetLatitudeRadIC(),
- FGIC->GetAltitudeASLFtIC() + FGIC->GetSeaLevelRadiusFtIC() );
+ VState.vLocation = FGIC->GetPosition();
- VehicleRadius = GetRadius();
- radInv = 1.0/VehicleRadius;
+ Ti2ec = VState.vLocation.GetTi2ec(); // ECI to ECEF transform
+ Tec2i = Ti2ec.Transposed(); // ECEF to ECI frame transform
- // Set the Orientation from the euler angles
- VState.vQtrn = FGQuaternion( FGIC->GetPhiRadIC(),
- FGIC->GetThetaRadIC(),
- FGIC->GetPsiRadIC() );
+ VState.vInertialPosition = Tec2i * VState.vLocation;
- // Set the velocities in the instantaneus body frame
- VState.vUVW = FGColumnVector3( FGIC->GetUBodyFpsIC(),
- FGIC->GetVBodyFpsIC(),
- FGIC->GetWBodyFpsIC() );
+ UpdateLocationMatrices();
+
+ // Set the orientation from the euler angles (is normalized within the
+ // constructor). The Euler angles represent the orientation of the body
+ // frame relative to the local frame.
+ VState.qAttitudeLocal = FGIC->GetOrientation();
- // Set the angular velocities in the instantaneus body frame.
- VState.vPQR = FGColumnVector3( FGIC->GetPRadpsIC(),
- FGIC->GetQRadpsIC(),
- FGIC->GetRRadpsIC() );
+ VState.qAttitudeECI = Ti2l.GetQuaternion()*VState.qAttitudeLocal;
+ UpdateBodyMatrices();
+
+ // Set the velocities in the instantaneus body frame
+ VState.vUVW = FGIC->GetUVWFpsIC();
// Compute the local frame ECEF velocity
- vVel = GetTb2l()*VState.vUVW;
-
- // Finally, make sure that the quaternion stays normalized.
- VState.vQtrn.Normalize();
-
- // Recompute the LocalTerrainRadius.
- RecomputeLocalTerrainRadius();
-
- // These local copies of the transformation matrices are for use for
- // initial conditions only.
-
- Tl2b = GetTl2b(); // local to body frame transform
- Tb2l = Tl2b.Transposed(); // body to local frame transform
- Tl2ec = GetTl2ec(); // local to ECEF transform
- Tec2l = Tl2ec.Transposed(); // ECEF to local frame transform
- Tec2b = Tl2b * Tec2l; // ECEF to body frame transform
- Tb2ec = Tec2b.Transposed(); // body to ECEF frame tranform
- Ti2ec = GetTi2ec(); // ECI to ECEF transform
- Tec2i = Ti2ec.Transposed(); // ECEF to ECI frame transform
- Ti2b = Tec2b*Ti2ec; // ECI to body frame transform
- Tb2i = Ti2b.Transposed(); // body to ECI frame transform
+ vVel = Tb2l * VState.vUVW;
+
+ // Compute local terrain velocity
+ RecomputeLocalTerrainVelocity();
+ VehicleRadius = GetRadius();
+
+ // Set the angular velocities of the body frame relative to the ECEF frame,
+ // expressed in the body frame.
+ VState.vPQR = FGIC->GetPQRRadpsIC();
+
+ VState.vPQRi = VState.vPQR + Ti2b * in.vOmegaPlanet;
+
+ CalculateInertialVelocity(); // Translational position derivative
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+// Initialize the past value deques
+
+void FGPropagate::InitializeDerivatives()
+{
+ for (int i=0; i<4; i++) {
+ VState.dqPQRidot[i] = in.vPQRidot;
+ VState.dqUVWidot[i] = in.vUVWidot;
+ VState.dqInertialVelocity[i] = VState.vInertialVelocity;
+ VState.dqQtrndot[i] = in.vQtrndot;
+ }
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
and current derivatives. Based on these values we compute an approximation to the
state values for (now + dt).
-In the code below, variables named beginning with a small "v" refer to a
+In the code below, variables named beginning with a small "v" refer to a
a column vector, variables named beginning with a "T" refer to a transformation
matrix. ECEF refers to Earth Centered Earth Fixed. ECI refers to Earth Centered
Inertial.
*/
-bool FGPropagate::Run(void)
+bool FGPropagate::Run(bool Holding)
{
- if (FGModel::Run()) return true; // Fast return if we have nothing to do ...
- if (FDMExec->Holding()) return false;
+ if (FGModel::Run(Holding)) return true; // Fast return if we have nothing to do ...
+ if (Holding) return false;
- RecomputeLocalTerrainRadius();
+ double dt = in.DeltaT * rate; // The 'stepsize'
- // Calculate current aircraft radius from center of planet
+ // Propagate rotational / translational velocity, angular /translational position, respectively.
- VehicleRadius = GetRadius();
- radInv = 1.0/VehicleRadius;
-
- // These local copies of the transformation matrices are for use this
- // pass through Run() only.
-
- Tl2b = GetTl2b(); // local to body frame transform
- Tb2l = Tl2b.Transposed(); // body to local frame transform
- Tl2ec = GetTl2ec(); // local to ECEF transform
- Tec2l = Tl2ec.Transposed(); // ECEF to local frame transform
- Tec2b = Tl2b * Tec2l; // ECEF to body frame transform
- Tb2ec = Tec2b.Transposed(); // body to ECEF frame tranform
- Ti2ec = GetTi2ec(); // ECI to ECEF transform
- Tec2i = Ti2ec.Transposed(); // ECEF to ECI frame transform
- Ti2b = Tec2b*Ti2ec; // ECI to body frame transform
- Tb2i = Ti2b.Transposed(); // body to ECI frame transform
+ Integrate(VState.qAttitudeECI, in.vQtrndot, VState.dqQtrndot, dt, integrator_rotational_position);
+ Integrate(VState.vPQRi, in.vPQRidot, VState.dqPQRidot, dt, integrator_rotational_rate);
+ Integrate(VState.vInertialPosition, VState.vInertialVelocity, VState.dqInertialVelocity, dt, integrator_translational_position);
+ Integrate(VState.vInertialVelocity, in.vUVWidot, VState.dqUVWidot, dt, integrator_translational_rate);
+
+ // CAUTION : the order of the operations below is very important to get transformation
+ // matrices that are consistent with the new state of the vehicle
+
+ // 1. Update the Earth position angle (EPA)
+ VState.vLocation.IncrementEarthPositionAngle(in.vOmegaPlanet(eZ)*(in.DeltaT*rate));
+
+ // 2. Update the Ti2ec and Tec2i transforms from the updated EPA
+ Ti2ec = VState.vLocation.GetTi2ec(); // ECI to ECEF transform
+ Tec2i = Ti2ec.Transposed(); // ECEF to ECI frame transform
+
+ // 3. Update the location from the updated Ti2ec and inertial position
+ VState.vLocation = Ti2ec*VState.vInertialPosition;
+
+ // 4. Update the other "Location-based" transformation matrices from the updated
+ // vLocation vector.
+ UpdateLocationMatrices();
+
+ // 5. Update the "Orientation-based" transformation matrices from the updated
+ // orientation quaternion and vLocation vector.
+ UpdateBodyMatrices();
+
+ // Translational position derivative (velocities are integrated in the inertial frame)
+ CalculateUVW();
+
+ // Set auxilliary state variables
+ RecomputeLocalTerrainVelocity();
+ VehicleRadius = GetRadius(); // Calculate current aircraft radius from center of planet
+
+ VState.vPQR = VState.vPQRi - Ti2b * in.vOmegaPlanet;
+
+ VState.qAttitudeLocal = Tl2b.GetQuaternion();
// Compute vehicle velocity wrt ECEF frame, expressed in Local horizontal frame.
vVel = Tb2l * VState.vUVW;
- // Inertial angular velocity measured in the body frame.
- vPQRi = VState.vPQR + Tec2b*vOmega;
+ Debug(2);
+ return false;
+}
- // Calculate state derivatives
- CalculatePQRdot(); // Angular rate derivative
- CalculateUVWdot(); // Translational rate derivative
- CalculateQuatdot(); // Angular orientation derivative
- CalculateLocationdot(); // Translational position derivative
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+ // Transform the velocity vector of the body relative to the origin (Earth
+ // center) to be expressed in the inertial frame, and add the vehicle velocity
+ // contribution due to the rotation of the planet.
+ // Reference: See Stevens and Lewis, "Aircraft Control and Simulation",
+ // Second edition (2004), eqn 1.5-16c (page 50)
- // Integrate to propagate the state
+void FGPropagate::CalculateInertialVelocity(void)
+{
+ VState.vInertialVelocity = Tb2i * VState.vUVW + (in.vOmegaPlanet * VState.vInertialPosition);
+}
- double dt = State->Getdt()*rate; // The 'stepsize'
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+ // Transform the velocity vector of the inertial frame to be expressed in the
+ // body frame relative to the origin (Earth center), and substract the vehicle
+ // velocity contribution due to the rotation of the planet.
- // Propagate rotational velocity
+void FGPropagate::CalculateUVW(void)
+{
+ VState.vUVW = Ti2b * (VState.vInertialVelocity - (in.vOmegaPlanet * VState.vInertialPosition));
+}
- switch(integrator_rotational_rate) {
- case eRectEuler: VState.vPQR += dt*vPQRdot;
- break;
- case eTrapezoidal: VState.vPQR += 0.5*dt*(vPQRdot + last_vPQRdot);
- break;
- case eAdamsBashforth2: VState.vPQR += dt*(1.5*vPQRdot - 0.5*last_vPQRdot);
- break;
- case eAdamsBashforth3: VState.vPQR += (1/12.0)*dt*(23.0*vPQRdot - 16.0*last_vPQRdot + 5.0*last2_vPQRdot);
- break;
- case eNone: // do nothing, freeze angular rate
- break;
- }
-
- // Propagate translational velocity
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
- switch(integrator_translational_rate) {
- case eRectEuler: VState.vUVW += dt*vUVWdot;
+void FGPropagate::Integrate( FGColumnVector3& Integrand,
+ FGColumnVector3& Val,
+ deque <FGColumnVector3>& ValDot,
+ double dt,
+ eIntegrateType integration_type)
+{
+ ValDot.push_front(Val);
+ ValDot.pop_back();
+
+ switch(integration_type) {
+ case eRectEuler: Integrand += dt*ValDot[0];
break;
- case eTrapezoidal: VState.vUVW += 0.5*dt*(vUVWdot + last_vUVWdot);
+ case eTrapezoidal: Integrand += 0.5*dt*(ValDot[0] + ValDot[1]);
break;
- case eAdamsBashforth2: VState.vUVW += dt*(1.5*vUVWdot - 0.5*last_vUVWdot);
+ case eAdamsBashforth2: Integrand += dt*(1.5*ValDot[0] - 0.5*ValDot[1]);
break;
- case eAdamsBashforth3: VState.vUVW += (1/12.0)*dt*(23.0*vUVWdot - 16.0*last_vUVWdot + 5.0*last2_vUVWdot);
+ case eAdamsBashforth3: Integrand += (1/12.0)*dt*(23.0*ValDot[0] - 16.0*ValDot[1] + 5.0*ValDot[2]);
+ break;
+ case eAdamsBashforth4: Integrand += (1/24.0)*dt*(55.0*ValDot[0] - 59.0*ValDot[1] + 37.0*ValDot[2] - 9.0*ValDot[3]);
break;
case eNone: // do nothing, freeze translational rate
break;
+ default:
+ break;
}
+}
- // Propagate angular position
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
- switch(integrator_rotational_position) {
- case eRectEuler: VState.vQtrn += dt*vQtrndot;
- break;
- case eTrapezoidal: VState.vQtrn += 0.5*dt*(vQtrndot + last_vQtrndot);
- break;
- case eAdamsBashforth2: VState.vQtrn += dt*(1.5*vQtrndot - 0.5*last_vQtrndot);
- break;
- case eAdamsBashforth3: VState.vQtrn += (1/12.0)*dt*(23.0*vQtrndot - 16.0*last_vQtrndot + 5.0*last2_vQtrndot);
+void FGPropagate::Integrate( FGQuaternion& Integrand,
+ FGQuaternion& Val,
+ deque <FGQuaternion>& ValDot,
+ double dt,
+ eIntegrateType integration_type)
+{
+ ValDot.push_front(Val);
+ ValDot.pop_back();
+
+ switch(integration_type) {
+ case eRectEuler: Integrand += dt*ValDot[0];
break;
- case eNone: // do nothing, freeze angular position
+ case eTrapezoidal: Integrand += 0.5*dt*(ValDot[0] + ValDot[1]);
break;
- }
-
- // Propagate translational position
-
- switch(integrator_translational_position) {
- case eRectEuler: VState.vLocation += dt*vLocationDot;
+ case eAdamsBashforth2: Integrand += dt*(1.5*ValDot[0] - 0.5*ValDot[1]);
break;
- case eTrapezoidal: VState.vLocation += 0.5*dt*(vLocationDot + last_vLocationDot);
+ case eAdamsBashforth3: Integrand += (1/12.0)*dt*(23.0*ValDot[0] - 16.0*ValDot[1] + 5.0*ValDot[2]);
break;
- case eAdamsBashforth2: VState.vLocation += dt*(1.5*vLocationDot - 0.5*last_vLocationDot);
+ case eAdamsBashforth4: Integrand += (1/24.0)*dt*(55.0*ValDot[0] - 59.0*ValDot[1] + 37.0*ValDot[2] - 9.0*ValDot[3]);
break;
- case eAdamsBashforth3: VState.vLocation += (1/12.0)*dt*(23.0*vLocationDot - 16.0*last_vLocationDot + 5.0*last2_vLocationDot);
+ case eBuss1:
+ {
+ // This is the first order method as described in Samuel R. Buss paper[6].
+ // The formula from Buss' paper is transposed below to quaternions and is
+ // actually the exact solution of the quaternion differential equation
+ // qdot = 1/2*w*q when w is constant.
+ Integrand = Integrand * QExp(0.5 * dt * VState.vPQRi);
+ }
+ return; // No need to normalize since the quaternion exponential is always normal
+ case eBuss2:
+ {
+ // This is the 'augmented second-order method' from S.R. Buss paper [6].
+ // Unlike Runge-Kutta or Adams-Bashforth, it is a one-pass second-order
+ // method (see reference [6]).
+ FGColumnVector3 wi = VState.vPQRi;
+ FGColumnVector3 wdoti = in.vPQRidot;
+ FGColumnVector3 omega = wi + 0.5*dt*wdoti + dt*dt/12.*wdoti*wi;
+ Integrand = Integrand * QExp(0.5 * dt * omega);
+ }
+ return; // No need to normalize since the quaternion exponential is always normal
+ case eLocalLinearization:
+ {
+ // This is the local linearization algorithm of Barker et al. (see ref. [7])
+ // It is also a one-pass second-order method. The code below is based on the
+ // more compact formulation issued from equation (107) of ref. [8]. The
+ // constants C1, C2, C3 and C4 have the same value than those in ref. [7] pp. 11
+ FGColumnVector3 wi = 0.5 * VState.vPQRi;
+ FGColumnVector3 wdoti = 0.5 * in.vPQRidot;
+ double omegak2 = DotProduct(VState.vPQRi, VState.vPQRi);
+ double omegak = omegak2 > 1E-6 ? sqrt(omegak2) : 1E-6;
+ double rhok = 0.5 * dt * omegak;
+ double C1 = cos(rhok);
+ double C2 = 2.0 * sin(rhok) / omegak;
+ double C3 = 4.0 * (1.0 - C1) / (omegak*omegak);
+ double C4 = 4.0 * (dt - C2) / (omegak*omegak);
+ FGColumnVector3 Omega = C2*wi + C3*wdoti + C4*wi*wdoti;
+ FGQuaternion q;
+
+ q(1) = C1 - C4*DotProduct(wi, wdoti);
+ q(2) = Omega(eP);
+ q(3) = Omega(eQ);
+ q(4) = Omega(eR);
+
+ Integrand = Integrand * q;
+
+ /* Cross check with ref. [7] pp.11-12 formulas and code pp. 20
+ double pk = VState.vPQRi(eP);
+ double qk = VState.vPQRi(eQ);
+ double rk = VState.vPQRi(eR);
+ double pdotk = in.vPQRidot(eP);
+ double qdotk = in.vPQRidot(eQ);
+ double rdotk = in.vPQRidot(eR);
+ double Ap = -0.25 * (pk*pdotk + qk*qdotk + rk*rdotk);
+ double Bp = 0.25 * (pk*qdotk - qk*pdotk);
+ double Cp = 0.25 * (pdotk*rk - pk*rdotk);
+ double Dp = 0.25 * (qk*rdotk - qdotk*rk);
+ double C2p = sin(rhok) / omegak;
+ double C3p = 2.0 * (1.0 - cos(rhok)) / (omegak*omegak);
+ double H = C1 + C4 * Ap;
+ double G = -C2p*rk - C3p*rdotk + C4*Bp;
+ double J = C2p*qk + C3p*qdotk - C4*Cp;
+ double K = C2p*pk + C3p*pdotk - C4*Dp;
+
+ cout << "q: " << q << endl;
+
+ // Warning! In the paper of Barker et al. the quaternion components are not
+ // ordered the same way as in JSBSim (see equations (2) and (3) of ref. [7]
+ // as well as the comment just below equation (3))
+ cout << "FORTRAN: " << H << " , " << K << " , " << J << " , " << -G << endl;*/
+ }
+ break; // The quaternion q is not normal so the normalization needs to be done.
+ case eNone: // do nothing, freeze rotational rate
break;
- case eNone: // do nothing, freeze translational position
+ default:
break;
}
-
- // Set past values
-
- last2_vPQRdot = last_vPQRdot;
- last_vPQRdot = vPQRdot;
-
- last2_vUVWdot = last_vUVWdot;
- last_vUVWdot = vUVWdot;
-
- last2_vQtrndot = last_vQtrndot;
- last_vQtrndot = vQtrndot;
-
- last2_vLocationDot = last_vLocationDot;
- last_vLocationDot = vLocationDot;
- Debug(2);
- return false;
+ Integrand.Normalize();
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-// Compute body frame rotational accelerations based on the current body moments
-//
-// vPQRdot is the derivative of the absolute angular velocity of the vehicle
-// (body rate with respect to the inertial frame), expressed in the body frame,
-// where the derivative is taken in the body frame.
-// J is the inertia matrix
-// Jinv is the inverse inertia matrix
-// vMoments is the moment vector in the body frame
-// vPQRi is the total inertial angular velocity of the vehicle
-// expressed in the body frame.
-// Reference: See Stevens and Lewis, "Aircraft Control and Simulation",
-// Second edition (2004), eqn 1.5-16e (page 50)
-
-void FGPropagate::CalculatePQRdot(void)
-{
- const FGColumnVector3& vMoments = Aircraft->GetMoments(); // current moments
- const FGMatrix33& J = MassBalance->GetJ(); // inertia matrix
- const FGMatrix33& Jinv = MassBalance->GetJinv(); // inertia matrix inverse
-
- // Compute body frame rotational accelerations based on the current body
- // moments and the total inertial angular velocity expressed in the body
- // frame.
- vPQRdot = Jinv*(vMoments - vPQRi*(J*vPQRi));
+void FGPropagate::UpdateLocationMatrices(void)
+{
+ Tl2ec = VState.vLocation.GetTl2ec(); // local to ECEF transform
+ Tec2l = Tl2ec.Transposed(); // ECEF to local frame transform
+ Ti2l = VState.vLocation.GetTi2l(); // ECI to local frame transform
+ Tl2i = Ti2l.Transposed(); // local to ECI transform
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-// Compute the quaternion orientation derivative
-//
-// vQtrndot is the quaternion derivative.
-// Reference: See Stevens and Lewis, "Aircraft Control and Simulation",
-// Second edition (2004), eqn 1.5-16b (page 50)
-void FGPropagate::CalculateQuatdot(void)
+void FGPropagate::UpdateBodyMatrices(void)
{
- vOmegaLocal.InitMatrix( radInv*vVel(eEast),
- -radInv*vVel(eNorth),
- -radInv*vVel(eEast)*VState.vLocation.GetTanLatitude() );
-
- // Compute quaternion orientation derivative on current body rates
- vQtrndot = VState.vQtrn.GetQDot( VState.vPQR - Tl2b*vOmegaLocal);
+ Ti2b = VState.qAttitudeECI.GetT(); // ECI to body frame transform
+ Tb2i = Ti2b.Transposed(); // body to ECI frame transform
+ Tl2b = Ti2b * Tl2i; // local to body frame transform
+ Tb2l = Tl2b.Transposed(); // body to local frame transform
+ Tec2b = Ti2b * Tec2i; // ECEF to body frame transform
+ Tb2ec = Tec2b.Transposed(); // body to ECEF frame tranform
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-// This set of calculations results in the body frame accelerations being
-// computed.
-// Reference: See Stevens and Lewis, "Aircraft Control and Simulation",
-// Second edition (2004), eqn 1.5-16d (page 50)
-
-void FGPropagate::CalculateUVWdot(void)
-{
- double mass = MassBalance->GetMass(); // mass
- const FGColumnVector3& vForces = Aircraft->GetForces(); // current forces
- const FGColumnVector3 vGravAccel( 0.0, 0.0, Inertial->GetGAccel(VehicleRadius) );
+void FGPropagate::SetInertialOrientation(const FGQuaternion& Qi) {
+ VState.qAttitudeECI = Qi;
+ VState.qAttitudeECI.Normalize();
+ UpdateBodyMatrices();
+ VState.qAttitudeLocal = Tl2b.GetQuaternion();
+}
- // Begin to compute body frame accelerations based on the current body forces
- vUVWdot = vForces/mass - VState.vPQR * VState.vUVW;
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
- // Include Coriolis acceleration.
- vUVWdot -= 2.0 * (Ti2b *vOmega) * VState.vUVW;
+void FGPropagate::SetInertialVelocity(const FGColumnVector3& Vi) {
+ VState.vInertialVelocity = Vi;
+ CalculateUVW();
+ vVel = Tb2l * VState.vUVW;
+}
- // Include Centrifugal acceleration.
- if (!GroundReactions->GetWOW()) {
- vUVWdot -= Ti2b*(vOmega*(vOmega*(Tec2i*VState.vLocation)));
- }
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
- // Include Gravitation accel
- FGColumnVector3 gravAccel = Tl2b*vGravAccel;
- vUVWdot += gravAccel;
+void FGPropagate::SetInertialRates(const FGColumnVector3& vRates) {
+ VState.vPQRi = Ti2b * vRates;
+ VState.vPQR = VState.vPQRi - Ti2b * in.vOmegaPlanet;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-void FGPropagate::CalculateLocationdot(void)
+void FGPropagate::RecomputeLocalTerrainVelocity()
{
- // Transform the vehicle velocity relative to the ECEF frame, expressed
- // in the body frame, to be expressed in the ECEF frame.
- vLocationDot = Tb2ec * VState.vUVW;
-
- // Now, transform the velocity vector of the body relative to the origin (Earth
- // center) to be expressed in the inertial frame, and add the vehicle velocity
- // contribution due to the rotation of the planet. The above velocity is only
- // relative to the rotating ECEF frame.
- // Reference: See Stevens and Lewis, "Aircraft Control and Simulation",
- // Second edition (2004), eqn 1.5-16c (page 50)
-
- vInertialVelocity = Tec2i * vLocationDot + (vOmega * (Tec2i * VState.vLocation));
+ FGLocation contact;
+ FGColumnVector3 normal;
+ VState.vLocation.GetContactPoint(FDMExec->GetSimTime(), contact, normal,
+ LocalTerrainVelocity, LocalTerrainAngularVelocity);
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-void FGPropagate::RecomputeLocalTerrainRadius(void)
+void FGPropagate::SetTerrainElevation(double terrainElev)
{
- double t = State->Getsim_time();
-
- // Get the LocalTerrain radius.
- FGLocation contactloc;
- FGColumnVector3 dv;
- FDMExec->GetGroundCallback()->GetAGLevel(t, VState.vLocation, contactloc, dv, dv);
- LocalTerrainRadius = contactloc.GetRadius();
+ double radius = terrainElev + VState.vLocation.GetSeaLevelRadius();
+ FDMExec->GetGroundCallback()->SetTerrainGeoCentRadius(radius);
}
+
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-void FGPropagate::SetTerrainElevation(double terrainElev)
+void FGPropagate::SetSeaLevelRadius(double tt)
{
- LocalTerrainRadius = terrainElev + SeaLevelRadius;
- FDMExec->GetGroundCallback()->SetTerrainGeoCentRadius(LocalTerrainRadius);
+ FDMExec->GetGroundCallback()->SetSeaLevelRadius(tt);
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-double FGPropagate::GetTerrainElevation(void) const
+double FGPropagate::GetLocalTerrainRadius(void) const
{
- return FDMExec->GetGroundCallback()->GetTerrainGeoCentRadius()-SeaLevelRadius;
+ return VState.vLocation.GetTerrainRadius(FDMExec->GetSimTime());
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-const FGMatrix33& FGPropagate::GetTi2ec(void)
+double FGPropagate::GetDistanceAGL(void) const
{
- return VState.vLocation.GetTi2ec(Inertial->GetEarthPositionAngle());
+ return VState.vLocation.GetAltitudeAGL(FDMExec->GetSimTime());
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-const FGMatrix33& FGPropagate::GetTec2i(void)
+void FGPropagate::SetDistanceAGL(double tt)
{
- return VState.vLocation.GetTec2i(Inertial->GetEarthPositionAngle());
+ VState.vLocation.SetAltitudeAGL(tt, FDMExec->GetSimTime());
+ UpdateVehicleState();
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-void FGPropagate::SetAltitudeASL(double altASL)
+void FGPropagate::SetVState(const VehicleState& vstate)
{
- VState.vLocation.SetRadius( altASL + SeaLevelRadius );
+ //ToDo: Shouldn't all of these be set from the vstate vector passed in?
+ VState.vLocation = vstate.vLocation;
+ Ti2ec = VState.vLocation.GetTi2ec(); // useless ?
+ Tec2i = Ti2ec.Transposed();
+ UpdateLocationMatrices();
+ SetInertialOrientation(vstate.qAttitudeECI);
+ RecomputeLocalTerrainVelocity();
+ VehicleRadius = GetRadius();
+ VState.vUVW = vstate.vUVW;
+ vVel = Tb2l * VState.vUVW;
+ VState.vPQR = vstate.vPQR;
+ VState.vPQRi = VState.vPQR + Ti2b * in.vOmegaPlanet;
+ VState.vInertialPosition = vstate.vInertialPosition;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-double FGPropagate::GetLocalTerrainRadius(void) const
+void FGPropagate::UpdateVehicleState(void)
{
- return LocalTerrainRadius;
+ RecomputeLocalTerrainVelocity();
+ VehicleRadius = GetRadius();
+ VState.vInertialPosition = Tec2i * VState.vLocation;
+ UpdateLocationMatrices();
+ UpdateBodyMatrices();
+ vVel = Tb2l * VState.vUVW;
+ VState.qAttitudeLocal = Tl2b.GetQuaternion();
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-double FGPropagate::GetDistanceAGL(void) const
+void FGPropagate::SetLocation(const FGLocation& l)
{
- return VState.vLocation.GetRadius() - LocalTerrainRadius;
+ VState.vLocation = l;
+ Ti2ec = VState.vLocation.GetTi2ec(); // useless ?
+ Tec2i = Ti2ec.Transposed();
+ UpdateVehicleState();
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-void FGPropagate::SetDistanceAGL(double tt)
+void FGPropagate::DumpState(void)
{
- VState.vLocation.SetRadius( tt + LocalTerrainRadius );
+ cout << endl;
+ cout << fgblue
+ << "------------------------------------------------------------------" << reset << endl;
+ cout << highint
+ << "State Report at sim time: " << FDMExec->GetSimTime() << " seconds" << reset << endl;
+ cout << " " << underon
+ << "Position" << underoff << endl;
+ cout << " ECI: " << VState.vInertialPosition.Dump(", ") << " (x,y,z, in ft)" << endl;
+ cout << " ECEF: " << VState.vLocation << " (x,y,z, in ft)" << endl;
+ cout << " Local: " << VState.vLocation.GetLatitudeDeg()
+ << ", " << VState.vLocation.GetLongitudeDeg()
+ << ", " << GetAltitudeASL() << " (lat, lon, alt in deg and ft)" << endl;
+
+ cout << endl << " " << underon
+ << "Orientation" << underoff << endl;
+ cout << " ECI: " << VState.qAttitudeECI.GetEulerDeg().Dump(", ") << " (phi, theta, psi in deg)" << endl;
+ cout << " Local: " << VState.qAttitudeLocal.GetEulerDeg().Dump(", ") << " (phi, theta, psi in deg)" << endl;
+
+ cout << endl << " " << underon
+ << "Velocity" << underoff << endl;
+ cout << " ECI: " << VState.vInertialVelocity.Dump(", ") << " (x,y,z in ft/s)" << endl;
+ cout << " ECEF: " << (Tb2ec * VState.vUVW).Dump(", ") << " (x,y,z in ft/s)" << endl;
+ cout << " Local: " << GetVel() << " (n,e,d in ft/sec)" << endl;
+ cout << " Body: " << GetUVW() << " (u,v,w in ft/sec)" << endl;
+
+ cout << endl << " " << underon
+ << "Body Rates (relative to given frame, expressed in body frame)" << underoff << endl;
+ cout << " ECI: " << (VState.vPQRi*radtodeg).Dump(", ") << " (p,q,r in deg/s)" << endl;
+ cout << " ECEF: " << (VState.vPQR*radtodeg).Dump(", ") << " (p,q,r in deg/s)" << endl;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
void FGPropagate::bind(void)
{
typedef double (FGPropagate::*PMF)(int) const;
-// typedef double (FGPropagate::*dPMF)() const;
+
PropertyManager->Tie("velocities/h-dot-fps", this, &FGPropagate::Gethdot);
PropertyManager->Tie("velocities/v-north-fps", this, eNorth, (PMF)&FGPropagate::GetVel);
PropertyManager->Tie("velocities/eci-velocity-mag-fps", this, &FGPropagate::GetInertialVelocityMagnitude);
- PropertyManager->Tie("accelerations/pdot-rad_sec2", this, eP, (PMF)&FGPropagate::GetPQRdot);
- PropertyManager->Tie("accelerations/qdot-rad_sec2", this, eQ, (PMF)&FGPropagate::GetPQRdot);
- PropertyManager->Tie("accelerations/rdot-rad_sec2", this, eR, (PMF)&FGPropagate::GetPQRdot);
-
- PropertyManager->Tie("accelerations/udot-ft_sec2", this, eU, (PMF)&FGPropagate::GetUVWdot);
- PropertyManager->Tie("accelerations/vdot-ft_sec2", this, eV, (PMF)&FGPropagate::GetUVWdot);
- PropertyManager->Tie("accelerations/wdot-ft_sec2", this, eW, (PMF)&FGPropagate::GetUVWdot);
-
PropertyManager->Tie("position/h-sl-ft", this, &FGPropagate::GetAltitudeASL, &FGPropagate::SetAltitudeASL, true);
PropertyManager->Tie("position/h-sl-meters", this, &FGPropagate::GetAltitudeASLmeters, &FGPropagate::SetAltitudeASLmeters, true);
- PropertyManager->Tie("position/lat-gc-rad", this, &FGPropagate::GetLatitude, &FGPropagate::SetLatitude);
- PropertyManager->Tie("position/long-gc-rad", this, &FGPropagate::GetLongitude, &FGPropagate::SetLongitude);
- PropertyManager->Tie("position/lat-gc-deg", this, &FGPropagate::GetLatitudeDeg, &FGPropagate::SetLatitudeDeg);
- PropertyManager->Tie("position/long-gc-deg", this, &FGPropagate::GetLongitudeDeg, &FGPropagate::SetLongitudeDeg);
+ PropertyManager->Tie("position/lat-gc-rad", this, &FGPropagate::GetLatitude, &FGPropagate::SetLatitude, false);
+ PropertyManager->Tie("position/long-gc-rad", this, &FGPropagate::GetLongitude, &FGPropagate::SetLongitude, false);
+ PropertyManager->Tie("position/lat-gc-deg", this, &FGPropagate::GetLatitudeDeg, &FGPropagate::SetLatitudeDeg, false);
+ PropertyManager->Tie("position/long-gc-deg", this, &FGPropagate::GetLongitudeDeg, &FGPropagate::SetLongitudeDeg, false);
PropertyManager->Tie("position/lat-geod-rad", this, &FGPropagate::GetGeodLatitudeRad);
PropertyManager->Tie("position/lat-geod-deg", this, &FGPropagate::GetGeodLatitudeDeg);
PropertyManager->Tie("position/geod-alt-ft", this, &FGPropagate::GetGeodeticAltitude);
&FGPropagate::GetTerrainElevation,
&FGPropagate::SetTerrainElevation, false);
+ PropertyManager->Tie("position/epa-rad", this, &FGPropagate::GetEarthPositionAngle);
PropertyManager->Tie("metrics/terrain-radius", this, &FGPropagate::GetLocalTerrainRadius);
PropertyManager->Tie("attitude/phi-rad", this, (int)ePhi, (PMF)&FGPropagate::GetEuler);
PropertyManager->Tie("attitude/roll-rad", this, (int)ePhi, (PMF)&FGPropagate::GetEuler);
PropertyManager->Tie("attitude/pitch-rad", this, (int)eTht, (PMF)&FGPropagate::GetEuler);
PropertyManager->Tie("attitude/heading-true-rad", this, (int)ePsi, (PMF)&FGPropagate::GetEuler);
-
- PropertyManager->Tie("simulation/integrator/rate/rotational", &integrator_rotational_rate);
- PropertyManager->Tie("simulation/integrator/rate/translational", &integrator_translational_rate);
- PropertyManager->Tie("simulation/integrator/position/rotational", &integrator_rotational_position);
- PropertyManager->Tie("simulation/integrator/position/translational", &integrator_translational_position);
+
+ PropertyManager->Tie("simulation/integrator/rate/rotational", (int*)&integrator_rotational_rate);
+ PropertyManager->Tie("simulation/integrator/rate/translational", (int*)&integrator_translational_rate);
+ PropertyManager->Tie("simulation/integrator/position/rotational", (int*)&integrator_rotational_position);
+ PropertyManager->Tie("simulation/integrator/position/translational", (int*)&integrator_translational_position);
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
}
if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
}
- if (debug_lvl & 8 ) { // Runtime state variables
+ if (debug_lvl & 8 && from == 2) { // Runtime state variables
+ cout << endl << fgblue << highint << left
+ << " Propagation Report (English units: ft, degrees) at simulation time " << FDMExec->GetSimTime() << " seconds"
+ << reset << endl;
+ cout << endl;
+ cout << highint << " Earth Position Angle (deg): " << setw(8) << setprecision(3) << reset
+ << GetEarthPositionAngleDeg() << endl;
+ cout << endl;
+ cout << highint << " Body velocity (ft/sec): " << setw(8) << setprecision(3) << reset << VState.vUVW << endl;
+ cout << highint << " Local velocity (ft/sec): " << setw(8) << setprecision(3) << reset << vVel << endl;
+ cout << highint << " Inertial velocity (ft/sec): " << setw(8) << setprecision(3) << reset << VState.vInertialVelocity << endl;
+ cout << highint << " Inertial Position (ft): " << setw(10) << setprecision(3) << reset << VState.vInertialPosition << endl;
+ cout << highint << " Latitude (deg): " << setw(8) << setprecision(3) << reset << VState.vLocation.GetLatitudeDeg() << endl;
+ cout << highint << " Longitude (deg): " << setw(8) << setprecision(3) << reset << VState.vLocation.GetLongitudeDeg() << endl;
+ cout << highint << " Altitude ASL (ft): " << setw(8) << setprecision(3) << reset << GetAltitudeASL() << endl;
+// cout << highint << " Acceleration (NED, ft/sec^2): " << setw(8) << setprecision(3) << reset << Tb2l*GetUVWdot() << endl;
+ cout << endl;
+ cout << highint << " Matrix ECEF to Body (Orientation of Body with respect to ECEF): "
+ << reset << endl << Tec2b.Dump("\t", " ") << endl;
+ cout << highint << " Associated Euler angles (deg): " << setw(8)
+ << setprecision(3) << reset << (Tec2b.GetQuaternion().GetEuler()*radtodeg)
+ << endl << endl;
+
+ cout << highint << " Matrix Body to ECEF (Orientation of ECEF with respect to Body):"
+ << reset << endl << Tb2ec.Dump("\t", " ") << endl;
+ cout << highint << " Associated Euler angles (deg): " << setw(8)
+ << setprecision(3) << reset << (Tb2ec.GetQuaternion().GetEuler()*radtodeg)
+ << endl << endl;
+
+ cout << highint << " Matrix Local to Body (Orientation of Body with respect to Local):"
+ << reset << endl << Tl2b.Dump("\t", " ") << endl;
+ cout << highint << " Associated Euler angles (deg): " << setw(8)
+ << setprecision(3) << reset << (Tl2b.GetQuaternion().GetEuler()*radtodeg)
+ << endl << endl;
+
+ cout << highint << " Matrix Body to Local (Orientation of Local with respect to Body):"
+ << reset << endl << Tb2l.Dump("\t", " ") << endl;
+ cout << highint << " Associated Euler angles (deg): " << setw(8)
+ << setprecision(3) << reset << (Tb2l.GetQuaternion().GetEuler()*radtodeg)
+ << endl << endl;
+
+ cout << highint << " Matrix Local to ECEF (Orientation of ECEF with respect to Local):"
+ << reset << endl << Tl2ec.Dump("\t", " ") << endl;
+ cout << highint << " Associated Euler angles (deg): " << setw(8)
+ << setprecision(3) << reset << (Tl2ec.GetQuaternion().GetEuler()*radtodeg)
+ << endl << endl;
+
+ cout << highint << " Matrix ECEF to Local (Orientation of Local with respect to ECEF):"
+ << reset << endl << Tec2l.Dump("\t", " ") << endl;
+ cout << highint << " Associated Euler angles (deg): " << setw(8)
+ << setprecision(3) << reset << (Tec2l.GetQuaternion().GetEuler()*radtodeg)
+ << endl << endl;
+
+ cout << highint << " Matrix ECEF to Inertial (Orientation of Inertial with respect to ECEF):"
+ << reset << endl << Tec2i.Dump("\t", " ") << endl;
+ cout << highint << " Associated Euler angles (deg): " << setw(8)
+ << setprecision(3) << reset << (Tec2i.GetQuaternion().GetEuler()*radtodeg)
+ << endl << endl;
+
+ cout << highint << " Matrix Inertial to ECEF (Orientation of ECEF with respect to Inertial):"
+ << reset << endl << Ti2ec.Dump("\t", " ") << endl;
+ cout << highint << " Associated Euler angles (deg): " << setw(8)
+ << setprecision(3) << reset << (Ti2ec.GetQuaternion().GetEuler()*radtodeg)
+ << endl << endl;
+
+ cout << highint << " Matrix Inertial to Body (Orientation of Body with respect to Inertial):"
+ << reset << endl << Ti2b.Dump("\t", " ") << endl;
+ cout << highint << " Associated Euler angles (deg): " << setw(8)
+ << setprecision(3) << reset << (Ti2b.GetQuaternion().GetEuler()*radtodeg)
+ << endl << endl;
+
+ cout << highint << " Matrix Body to Inertial (Orientation of Inertial with respect to Body):"
+ << reset << endl << Tb2i.Dump("\t", " ") << endl;
+ cout << highint << " Associated Euler angles (deg): " << setw(8)
+ << setprecision(3) << reset << (Tb2i.GetQuaternion().GetEuler()*radtodeg)
+ << endl << endl;
+
+ cout << highint << " Matrix Inertial to Local (Orientation of Local with respect to Inertial):"
+ << reset << endl << Ti2l.Dump("\t", " ") << endl;
+ cout << highint << " Associated Euler angles (deg): " << setw(8)
+ << setprecision(3) << reset << (Ti2l.GetQuaternion().GetEuler()*radtodeg)
+ << endl << endl;
+
+ cout << highint << " Matrix Local to Inertial (Orientation of Inertial with respect to Local):"
+ << reset << endl << Tl2i.Dump("\t", " ") << endl;
+ cout << highint << " Associated Euler angles (deg): " << setw(8)
+ << setprecision(3) << reset << (Tl2i.GetQuaternion().GetEuler()*radtodeg)
+ << endl << endl;
+
+ cout << setprecision(6); // reset the output stream
}
if (debug_lvl & 16) { // Sanity checking
if (from == 2) { // State sanity checking
projects / flightgear.git / blobdiff