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] Erin Catto, "Iterative Dynamics with Temporal Coherence", February 22, 2005
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
INCLUDES
#include <cmath>
#include <cstdlib>
#include <iostream>
+#include <iomanip>
#include "FGPropagate.h"
+#include "FGGroundReactions.h"
#include "FGFDMExec.h"
-#include "FGState.h"
#include "FGAircraft.h"
#include "FGMassBalance.h"
#include "FGInertial.h"
namespace JSBSim {
-static const char *IdSrc = "$Id$";
+static const char *IdSrc = "$Id: FGPropagate.cpp,v 1.76 2011/01/16 16:10:59 bcoconni Exp $";
static const char *IdHdr = ID_PROPAGATE;
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS IMPLEMENTATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
-FGPropagate::FGPropagate(FGFDMExec* fdmex) : FGModel(fdmex)
+FGPropagate::FGPropagate(FGFDMExec* fdmex) : FGModel(fdmex),
+LocalTerrainRadius(0), SeaLevelRadius(0), VehicleRadius(0)
{
Debug(0);
Name = "FGPropagate";
-
- last2_vPQRdot.InitMatrix();
- last_vPQRdot.InitMatrix();
+ gravType = gtWGS84;
+
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();
+ vInertialVelocity.InitMatrix();
integrator_rotational_rate = eAdamsBashforth2;
integrator_translational_rate = eTrapezoidal;
integrator_rotational_position = eAdamsBashforth2;
integrator_translational_position = eTrapezoidal;
+ 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);
}
if (!FGModel::InitModel()) return false;
// For initialization ONLY:
- SeaLevelRadius = LocalTerrainRadius = Inertial->GetRefRadius();
+ SeaLevelRadius = LocalTerrainRadius = FDMExec->GetInertial()->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
+ VState.vLocation.SetEllipse(FDMExec->GetInertial()->GetSemimajor(), FDMExec->GetInertial()->GetSemiminor());
+ vOmegaEarth = FGColumnVector3( 0.0, 0.0, FDMExec->GetInertial()->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();
+ vInertialVelocity.InitMatrix();
- vOmegaLocal.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 = eAdamsBashforth2;
integrator_translational_rate = eTrapezoidal;
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() );
+ FGIC->GetLatitudeRadIC(),
+ FGIC->GetAltitudeASLFtIC() + FGIC->GetSeaLevelRadiusFtIC() );
- VehicleRadius = GetRadius();
- radInv = 1.0/VehicleRadius;
+ VState.vLocation.SetEarthPositionAngle(FDMExec->GetInertial()->GetEarthPositionAngle());
+
+ Ti2ec = VState.vLocation.GetTi2ec(); // ECI to ECEF transform
+ Tec2i = Ti2ec.Transposed(); // ECEF to ECI frame transform
+
+ VState.vInertialPosition = Tec2i * VState.vLocation;
- // Set the Orientation from the euler angles
- VState.vQtrn = FGQuaternion( FGIC->GetPhiRadIC(),
- FGIC->GetThetaRadIC(),
- FGIC->GetPsiRadIC() );
+ 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 = FGQuaternion( FGIC->GetPhiRadIC(),
+ FGIC->GetThetaRadIC(),
+ FGIC->GetPsiRadIC() );
+
+ VState.qAttitudeECI = Ti2l.GetQuaternion()*VState.qAttitudeLocal;
+ UpdateBodyMatrices();
// Set the velocities in the instantaneus body frame
VState.vUVW = FGColumnVector3( FGIC->GetUBodyFpsIC(),
- FGIC->GetVBodyFpsIC(),
- FGIC->GetWBodyFpsIC() );
-
- // Set the angular velocities in the instantaneus body frame.
- VState.vPQR = FGColumnVector3( FGIC->GetPRadpsIC(),
- FGIC->GetQRadpsIC(),
- FGIC->GetRRadpsIC() );
+ FGIC->GetVBodyFpsIC(),
+ FGIC->GetWBodyFpsIC() );
// Compute the local frame ECEF velocity
- vVel = GetTb2l()*VState.vUVW;
-
- // Finally, make sure that the quaternion stays normalized.
- VState.vQtrn.Normalize();
+ vVel = Tb2l * VState.vUVW;
// 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
+ VehicleRadius = GetRadius();
+ double radInv = 1.0/VehicleRadius;
+
+ // Refer to Stevens and Lewis, 1.5-14a, pg. 49.
+ // This is the rotation rate of the "Local" frame, expressed in the local frame.
+
+ FGColumnVector3 vOmegaLocal = FGColumnVector3(
+ radInv*vVel(eEast),
+ -radInv*vVel(eNorth),
+ -radInv*vVel(eEast)*VState.vLocation.GetTanLatitude() );
+
+ // Set the angular velocities of the body frame relative to the ECEF frame,
+ // expressed in the body frame. Effectively, this is:
+ // w_b/e = w_b/l + w_l/e
+ VState.vPQR = FGColumnVector3( FGIC->GetPRadpsIC(),
+ FGIC->GetQRadpsIC(),
+ FGIC->GetRRadpsIC() ) + Tl2b*vOmegaLocal;
+
+ VState.vPQRi = VState.vPQR + Ti2b * vOmegaEarth;
+ VState.vPQRi_i = Tb2i * VState.vPQRi;
+
+ // Make an initial run and set past values
+ InitializeDerivatives();
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
if (FGModel::Run()) return true; // Fast return if we have nothing to do ...
if (FDMExec->Holding()) return false;
+ double dt = FDMExec->GetDeltaT()*rate; // The 'stepsize'
+
RunPreFunctions();
- RecomputeLocalTerrainRadius();
+ // Calculate state derivatives
+ CalculatePQRdot(); // Angular rate derivative
+ CalculateUVWdot(); // Translational rate derivative
+ ResolveFrictionForces(dt); // Update rate derivatives with friction forces
+ CalculateQuatdot(); // Angular orientation derivative
+ CalculateUVW(); // Translational position derivative (velocities are integrated in the inertial frame)
- // 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.vPQRi_i, vPQRidot, VState.dqPQRidot, dt, integrator_rotational_rate); // ECI integration
+ Integrate(VState.qAttitudeECI, vQtrndot, VState.dqQtrndot, dt, integrator_rotational_position);
+ Integrate(VState.vInertialPosition, VState.vInertialVelocity, VState.dqInertialVelocity, dt, integrator_translational_position);
+ Integrate(VState.vInertialVelocity, vUVWidot, VState.dqUVWidot, dt, integrator_translational_rate);
- // Compute vehicle velocity wrt ECEF frame, expressed in Local horizontal frame.
- vVel = Tb2l * VState.vUVW;
+ // CAUTION : the order of the operations below is very important to get transformation
+ // matrices that are consistent with the new state of the vehicle
- // Inertial angular velocity measured in the body frame.
- vPQRi = VState.vPQR + Tec2b*vOmega;
+ // 1. Update the Earth position angle (EPA)
+ VState.vLocation.SetEarthPositionAngle(FDMExec->GetInertial()->GetEarthPositionAngle());
- // Calculate state derivatives
- CalculatePQRdot(); // Angular rate derivative
- CalculateUVWdot(); // Translational rate derivative
- CalculateQuatdot(); // Angular orientation derivative
- CalculateLocationdot(); // Translational position derivative
+ // 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
- // Integrate to propagate the state
+ // 3. Update the location from the updated Ti2ec and inertial position
+ VState.vLocation = Ti2ec*VState.vInertialPosition;
- double dt = State->Getdt()*rate; // The 'stepsize'
+ // 4. Update the other "Location-based" transformation matrices from the updated
+ // vLocation vector.
+ UpdateLocationMatrices();
- // Propagate rotational velocity
+ // 5. Normalize the ECI Attitude quaternion
+ VState.qAttitudeECI.Normalize();
- 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
+ // 6. Update the "Orientation-based" transformation matrices from the updated
+ // orientation quaternion and vLocation vector.
+ UpdateBodyMatrices();
- switch(integrator_translational_rate) {
- case eRectEuler: VState.vUVW += dt*vUVWdot;
- break;
- case eTrapezoidal: VState.vUVW += 0.5*dt*(vUVWdot + last_vUVWdot);
- break;
- case eAdamsBashforth2: VState.vUVW += dt*(1.5*vUVWdot - 0.5*last_vUVWdot);
- break;
- case eAdamsBashforth3: VState.vUVW += (1/12.0)*dt*(23.0*vUVWdot - 16.0*last_vUVWdot + 5.0*last2_vUVWdot);
- break;
- case eNone: // do nothing, freeze translational rate
- break;
- }
+ // Set auxililary state variables
+ RecomputeLocalTerrainRadius();
- // Propagate angular position
+ VehicleRadius = GetRadius(); // Calculate current aircraft radius from center of planet
- 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);
- break;
- case eNone: // do nothing, freeze angular position
- break;
- }
-
- // Propagate translational position
+ VState.vPQRi = Ti2b * VState.vPQRi_i;
+ VState.vPQR = VState.vPQRi - Ti2b * vOmegaEarth;
- switch(integrator_translational_position) {
- case eRectEuler: VState.vLocation += dt*vLocationDot;
- break;
- case eTrapezoidal: VState.vLocation += 0.5*dt*(vLocationDot + last_vLocationDot);
- break;
- case eAdamsBashforth2: VState.vLocation += dt*(1.5*vLocationDot - 0.5*last_vLocationDot);
- break;
- case eAdamsBashforth3: VState.vLocation += (1/12.0)*dt*(23.0*vLocationDot - 16.0*last_vLocationDot + 5.0*last2_vLocationDot);
- break;
- case eNone: // do nothing, freeze translational position
- 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;
+ VState.qAttitudeLocal = Tl2b.GetQuaternion();
- last2_vLocationDot = last_vLocationDot;
- last_vLocationDot = vLocationDot;
+ // Compute vehicle velocity wrt ECEF frame, expressed in Local horizontal frame.
+ vVel = Tb2l * VState.vUVW;
- RunPreFunctions();
+ RunPostFunctions();
Debug(2);
return false;
// 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
+// VState.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
+ const FGColumnVector3& vMoments = FDMExec->GetAircraft()->GetMoments(); // current moments
+ const FGMatrix33& J = FDMExec->GetMassBalance()->GetJ(); // inertia matrix
+ const FGMatrix33& Jinv = FDMExec->GetMassBalance()->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));
+ vPQRdot = Jinv*(vMoments - VState.vPQRi*(J*VState.vPQRi));
+ vPQRidot = Tb2i * vPQRdot;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
void FGPropagate::CalculateQuatdot(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);
+ vQtrndot = VState.qAttitudeECI.GetQDot( VState.vPQRi);
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-// This set of calculations results in the body frame accelerations being
-// computed.
+// This set of calculations results in the body and inertial frame accelerations
+// being computed.
+// Compute body and inertial frames accelerations based on the current body
+// forces including centripetal and coriolis accelerations for the former.
+// vOmegaEarth is the Earth angular rate - expressed in the inertial frame -
+// so it has to be transformed to the body frame. More completely,
+// vOmegaEarth is the rate of the ECEF frame relative to the Inertial
+// frame (ECI), expressed in the Inertial frame.
+// vForces is the total force on the vehicle in the body frame.
+// VState.vPQR is the vehicle body rate relative to the ECEF frame, expressed
+// in the body frame.
+// VState.vUVW is the vehicle velocity relative to the ECEF frame, expressed
+// in the body frame.
// Reference: See Stevens and Lewis, "Aircraft Control and Simulation",
-// Second edition (2004), eqn 1.5-16d (page 50)
+// Second edition (2004), eqns 1.5-13 (pg 48) and 1.5-16d (page 50)
void FGPropagate::CalculateUVWdot(void)
{
- double mass = MassBalance->GetMass(); // mass
- const FGColumnVector3& vForces = Aircraft->GetForces(); // current forces
+ double mass = FDMExec->GetMassBalance()->GetMass(); // mass
+ const FGColumnVector3& vForces = FDMExec->GetAircraft()->GetForces(); // current forces
+
+ vUVWdot = vForces/mass - (VState.vPQR + 2.0*(Ti2b *vOmegaEarth)) * VState.vUVW;
+
+ // Include Centripetal acceleration.
+ vUVWdot -= Ti2b * (vOmegaEarth*(vOmegaEarth*VState.vInertialPosition));
+
+ // Include Gravitation accel
+ switch (gravType) {
+ case gtStandard:
+ vGravAccel = Tl2b * FGColumnVector3( 0.0, 0.0, FDMExec->GetInertial()->GetGAccel(VehicleRadius) );
+ break;
+ case gtWGS84:
+ vGravAccel = Tec2b * FDMExec->GetInertial()->GetGravityJ2(VState.vLocation);
+ break;
+ }
+
+ vUVWdot += vGravAccel;
+ vUVWidot = Tb2i * (vForces/mass + vGravAccel);
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+ // 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)
+
+void FGPropagate::CalculateInertialVelocity(void)
+{
+ VState.vInertialVelocity = Tb2i * VState.vUVW + (vOmegaEarth * VState.vInertialPosition);
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+ // 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.
+
+void FGPropagate::CalculateUVW(void)
+{
+ VState.vUVW = Ti2b * (VState.vInertialVelocity - (vOmegaEarth * VState.vInertialPosition));
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+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: Integrand += 0.5*dt*(ValDot[0] + ValDot[1]);
+ break;
+ case eAdamsBashforth2: Integrand += dt*(1.5*ValDot[0] - 0.5*ValDot[1]);
+ break;
+ 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;
+ }
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGPropagate::Integrate( FGQuaternion& Integrand,
+ FGQuaternion& Val,
+ deque <FGQuaternion>& ValDot,
+ double dt,
+ eIntegrateType integration_type)
+{
+ ValDot.push_front(Val);
+ ValDot.pop_back();
- const FGColumnVector3 vGravAccel( 0.0, 0.0, Inertial->GetGAccel(VehicleRadius) );
+ switch(integration_type) {
+ case eRectEuler: Integrand += dt*ValDot[0];
+ break;
+ case eTrapezoidal: Integrand += 0.5*dt*(ValDot[0] + ValDot[1]);
+ break;
+ case eAdamsBashforth2: Integrand += dt*(1.5*ValDot[0] - 0.5*ValDot[1]);
+ break;
+ 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 rotational rate
+ break;
+ }
+}
- // Begin to compute body frame accelerations based on the current body forces
- vUVWdot = vForces/mass - VState.vPQR * VState.vUVW;
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+// Evaluates the rates (translation or rotation) that the friction forces have
+// to resist to. This includes the external forces and moments as well as the
+// relative movement between the aircraft and the ground.
+// Erin Catto's paper (see ref [6]) only supports Euler integration scheme and
+// this algorithm has been adapted to handle the multistep algorithms that
+// JSBSim supports (i.e. Trapezoidal, Adams-Bashforth 2, 3 and 4). The capacity
+// to handle the multistep integration schemes adds some complexity but it
+// significantly helps stabilizing the friction forces.
+
+void FGPropagate::EvaluateRateToResistTo(FGColumnVector3& vdot,
+ const FGColumnVector3& Val,
+ const FGColumnVector3& ValDot,
+ const FGColumnVector3& LocalTerrainVal,
+ deque <FGColumnVector3>& dqValDot,
+ const double dt,
+ const eIntegrateType integration_type)
+{
+ switch(integration_type) {
+ case eAdamsBashforth4:
+ vdot = ValDot + Ti2b * (-59.*dqValDot[0]+37.*dqValDot[1]-9.*dqValDot[2])/55.;
+ if (dt > 0.) // Zeroes out the relative movement between aircraft and ground
+ vdot += 24.*(Val - Tec2b * LocalTerrainVal) / (55.*dt);
+ break;
+ case eAdamsBashforth3:
+ vdot = ValDot + Ti2b * (-16.*dqValDot[0]+5.*dqValDot[1])/23.;
+ if (dt > 0.) // Zeroes out the relative movement between aircraft and ground
+ vdot += 12.*(Val - Tec2b * LocalTerrainVal) / (23.*dt);
+ break;
+ case eAdamsBashforth2:
+ vdot = ValDot - Ti2b * dqValDot[0]/3.;
+ if (dt > 0.) // Zeroes out the relative movement between aircraft and ground
+ vdot += 2.*(Val - Tec2b * LocalTerrainVal) / (3.*dt);
+ break;
+ case eTrapezoidal:
+ vdot = ValDot + Ti2b * dqValDot[0];
+ if (dt > 0.) // Zeroes out the relative movement between aircraft and ground
+ vdot += 2.*(Val - Tec2b * LocalTerrainVal) / dt;
+ break;
+ case eRectEuler:
+ vdot = ValDot;
+ if (dt > 0.) // Zeroes out the relative movement between aircraft and ground
+ vdot += (Val - Tec2b * LocalTerrainVal) / dt;
+ break;
+ case eNone:
+ break;
+ }
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+// Resolves the contact forces just before integrating the EOM.
+// This routine is using Lagrange multipliers and the projected Gauss-Seidel
+// (PGS) method.
+// Reference: See Erin Catto, "Iterative Dynamics with Temporal Coherence",
+// February 22, 2005
+// In JSBSim there is only one rigid body (the aircraft) and there can be
+// multiple points of contact between the aircraft and the ground. As a
+// consequence our matrix J*M^-1*J^T is not sparse and the algorithm described
+// in Catto's paper has been adapted accordingly.
+// The friction forces are resolved in the body frame relative to the origin
+// (Earth center).
+
+void FGPropagate::ResolveFrictionForces(double dt)
+{
+ const double invMass = 1.0 / FDMExec->GetMassBalance()->GetMass();
+ const FGMatrix33& Jinv = FDMExec->GetMassBalance()->GetJinv();
+ vector <FGColumnVector3> JacF, JacM;
+ vector<double> lambda, lambdaMin, lambdaMax;
+ FGColumnVector3 vdot, wdot;
+ FGColumnVector3 Fc, Mc;
+ int n = 0;
+
+ // Compiles data from the ground reactions to build up the jacobian matrix
+ for (MultiplierIterator it=MultiplierIterator(FDMExec->GetGroundReactions()); *it; ++it, n++) {
+ JacF.push_back((*it)->ForceJacobian);
+ JacM.push_back((*it)->MomentJacobian);
+ lambda.push_back((*it)->value);
+ lambdaMax.push_back((*it)->Max);
+ lambdaMin.push_back((*it)->Min);
+ }
+
+ // If no gears are in contact with the ground then return
+ if (!n) return;
- // Include Coriolis acceleration.
- vUVWdot -= 2.0 * (Ti2b *vOmega) * VState.vUVW;
+ vector<double> a(n*n); // Will contain J*M^-1*J^T
+ vector<double> rhs(n);
- // Include Centrifugal acceleration.
- if (!GroundReactions->GetWOW()) {
- vUVWdot -= Ti2b*(vOmega*(vOmega*(Tec2i*VState.vLocation)));
+ // Assemble the linear system of equations
+ for (int i=0; i < n; i++) {
+ for (int j=0; j < i; j++)
+ a[i*n+j] = a[j*n+i]; // Takes advantage of the symmetry of J^T*M^-1*J
+ for (int j=i; j < n; j++)
+ a[i*n+j] = DotProduct(JacF[i],invMass*JacF[j])+DotProduct(JacM[i],Jinv*JacM[j]);
}
- // Include Gravitation accel
- FGColumnVector3 gravAccel = Tl2b*vGravAccel;
- vUVWdot += gravAccel;
+ // Assemble the RHS member
+
+ // Translation
+ EvaluateRateToResistTo(vdot, VState.vUVW, vUVWdot, LocalTerrainVelocity,
+ VState.dqUVWidot, dt, integrator_translational_rate);
+
+ // Rotation
+ EvaluateRateToResistTo(wdot, VState.vPQR, vPQRdot, LocalTerrainAngularVelocity,
+ VState.dqPQRidot, dt, integrator_rotational_rate);
+
+ // Prepare the linear system for the Gauss-Seidel algorithm :
+ // 1. Compute the right hand side member 'rhs'
+ // 2. Divide every line of 'a' and 'rhs' by a[i,i]. This is in order to save
+ // a division computation at each iteration of Gauss-Seidel.
+ for (int i=0; i < n; i++) {
+ double d = 1.0 / a[i*n+i];
+
+ rhs[i] = -(DotProduct(JacF[i],vdot)+DotProduct(JacM[i],wdot))*d;
+ for (int j=0; j < n; j++)
+ a[i*n+j] *= d;
+ }
+
+ // Resolve the Lagrange multipliers with the projected Gauss-Seidel method
+ for (int iter=0; iter < 50; iter++) {
+ double norm = 0.;
+
+ for (int i=0; i < n; i++) {
+ double lambda0 = lambda[i];
+ double dlambda = rhs[i];
+
+ for (int j=0; j < n; j++)
+ dlambda -= a[i*n+j]*lambda[j];
+
+ lambda[i] = Constrain(lambdaMin[i], lambda0+dlambda, lambdaMax[i]);
+ dlambda = lambda[i] - lambda0;
+
+ norm += fabs(dlambda);
+ }
+
+ if (norm < 1E-5) break;
+ }
+
+ // Calculate the total friction forces and moments
+
+ Fc.InitMatrix();
+ Mc.InitMatrix();
+
+ for (int i=0; i< n; i++) {
+ Fc += lambda[i]*JacF[i];
+ Mc += lambda[i]*JacM[i];
+ }
+
+ vUVWdot += invMass * Fc;
+ vUVWidot += invMass * Tb2i * Fc;
+ vPQRdot += Jinv * Mc;
+ vPQRidot += Tb2i* Jinv * Mc;
+
+ // Save the value of the Lagrange multipliers to accelerate the convergence
+ // of the Gauss-Seidel algorithm at next iteration.
+ int i = 0;
+ for (MultiplierIterator it=MultiplierIterator(FDMExec->GetGroundReactions()); *it; ++it)
+ (*it)->value = lambda[i++];
+
+ FDMExec->GetGroundReactions()->UpdateForcesAndMoments();
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-void FGPropagate::CalculateLocationdot(void)
+void FGPropagate::UpdateLocationMatrices(void)
{
- // 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;
+ 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
+}
- // 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));
+void FGPropagate::UpdateBodyMatrices(void)
+{
+ 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 = Tl2b * Tec2l; // ECEF to body frame transform
+ Tb2ec = Tec2b.Transposed(); // body to ECEF frame tranform
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-void FGPropagate::RecomputeLocalTerrainRadius(void)
+void FGPropagate::SetInertialOrientation(FGQuaternion Qi) {
+ VState.qAttitudeECI = Qi;
+ VState.qAttitudeECI.Normalize();
+ UpdateBodyMatrices();
+ VState.qAttitudeLocal = Tl2b.GetQuaternion();
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGPropagate::SetInertialVelocity(FGColumnVector3 Vi) {
+ VState.vInertialVelocity = Vi;
+ CalculateUVW();
+ vVel = Tb2l * VState.vUVW;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGPropagate::SetInertialRates(FGColumnVector3 vRates) {
+ VState.vPQRi_i = vRates;
+ VState.vPQRi = Ti2b * VState.vPQRi_i;
+ VState.vPQR = VState.vPQRi - Ti2b * vOmegaEarth;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGPropagate::InitializeDerivatives(void)
{
- double t = State->Getsim_time();
+ // Make an initial run and set past values
+ CalculatePQRdot(); // Angular rate derivative
+ CalculateUVWdot(); // Translational rate derivative
+ ResolveFrictionForces(0.); // Update rate derivatives with friction forces
+ CalculateQuatdot(); // Angular orientation derivative
+ CalculateInertialVelocity(); // Translational position derivative
+
+ // Initialize past values deques
+ VState.dqPQRidot.clear();
+ VState.dqUVWidot.clear();
+ VState.dqInertialVelocity.clear();
+ VState.dqQtrndot.clear();
+ for (int i=0; i<4; i++) {
+ VState.dqPQRidot.push_front(vPQRidot);
+ VState.dqUVWidot.push_front(vUVWdot);
+ VState.dqInertialVelocity.push_front(VState.vInertialVelocity);
+ VState.dqQtrndot.push_front(vQtrndot);
+ }
+}
- // Get the LocalTerrain radius.
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGPropagate::RecomputeLocalTerrainRadius(void)
+{
FGLocation contactloc;
FGColumnVector3 dv;
- FDMExec->GetGroundCallback()->GetAGLevel(t, VState.vLocation, contactloc, dv, dv);
- LocalTerrainRadius = contactloc.GetRadius();
+ double t = FDMExec->GetSimTime();
+
+ // Get the LocalTerrain radius.
+ FDMExec->GetGroundCallback()->GetAGLevel(t, VState.vLocation, contactloc, dv,
+ LocalTerrainVelocity, LocalTerrainAngularVelocity);
+ LocalTerrainRadius = contactloc.GetRadius();
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-const FGMatrix33& FGPropagate::GetTi2ec(void)
+double FGPropagate::GetDistanceAGL(void) const
{
- return VState.vLocation.GetTi2ec(Inertial->GetEarthPositionAngle());
+ return VState.vLocation.GetRadius() - LocalTerrainRadius;
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-const FGMatrix33& FGPropagate::GetTec2i(void)
+void FGPropagate::SetVState(const VehicleState& vstate)
{
- return VState.vLocation.GetTec2i(Inertial->GetEarthPositionAngle());
-}
-
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+ VState.vLocation = vstate.vLocation;
+ VState.vLocation.SetEarthPositionAngle(FDMExec->GetInertial()->GetEarthPositionAngle());
+ Ti2ec = VState.vLocation.GetTi2ec(); // useless ?
+ Tec2i = Ti2ec.Transposed();
+ UpdateLocationMatrices();
+ SetInertialOrientation(vstate.qAttitudeECI);
+ RecomputeLocalTerrainRadius();
+ VehicleRadius = GetRadius();
+ VState.vUVW = vstate.vUVW;
+ vVel = Tb2l * VState.vUVW;
+ VState.vPQR = vstate.vPQR;
+ VState.vPQRi = VState.vPQR + Ti2b * vOmegaEarth;
+ VState.vPQRi_i = Tb2i * VState.vPQRi;
+ VState.vInertialPosition = vstate.vInertialPosition;
-void FGPropagate::SetAltitudeASL(double altASL)
-{
- VState.vLocation.SetRadius( altASL + SeaLevelRadius );
+ InitializeDerivatives();
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-double FGPropagate::GetLocalTerrainRadius(void) const
+void FGPropagate::UpdateVehicleState(void)
{
- return LocalTerrainRadius;
+ RecomputeLocalTerrainRadius();
+ 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;
+ VState.vLocation.SetEarthPositionAngle(FDMExec->GetInertial()->GetEarthPositionAngle());
+ 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("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);
+ PropertyManager->Tie("simulation/gravity-model", &gravType);
}
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
}
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
+ << FDMExec->GetInertial()->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