Sync. with JSBSim (CVS) again

[flightgear.git] / src / FDM / JSBSim / models / flight_control / FGKinemat.h

diff --git a/src/FDM/JSBSim/models/flight_control/FGKinemat.h b/src/FDM/JSBSim/models/flight_control/FGKinemat.h
index 43508dec83e4eaac9e0c9cc13627da6cadac737d..13d2ec7d967491de46c220ad22b386834d8d96db 100644 (file)
--- a/src/FDM/JSBSim/models/flight_control/FGKinemat.h
+++ b/src/FDM/JSBSim/models/flight_control/FGKinemat.h
@@ -1,31 +1,31 @@
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
- 
+
  Header:       FGKinemat.h
  Author:       Tony Peden, for flight control system authored by Jon S. Berndt
- Date started: 12/02/01 
- 
+ Date started: 12/02/01
+
  ------------- Copyright (C) Anthony K. Peden -------------
- 
+
  This program is free software; you can redistribute it and/or modify it under
- the terms of the GNU General Public License as published by the Free Software
+ the terms of the GNU Lesser General Public License as published by the Free Software
  Foundation; either version 2 of the License, or (at your option) any later
  version.
- 
+
  This program is distributed in the hope that it will be useful, but WITHOUT
  ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
- FOR A PARTICULAR PURPOSE.  See the GNU General Public License for more
+ FOR A PARTICULAR PURPOSE.  See the GNU Lesser General Public License for more
  details.
- 
- You should have received a copy of the GNU General Public License along with
+
+ You should have received a copy of the GNU Lesser General Public License along with
  this program; if not, write to the Free Software Foundation, Inc., 59 Temple
  Place - Suite 330, Boston, MA  02111-1307, USA.
- 
- Further information about the GNU General Public License can also be found on
+
+ Further information about the GNU Lesser General Public License can also be found on
  the world wide web at http://www.gnu.org.
- 
+
 HISTORY
 --------------------------------------------------------------------------------
- 
+
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 SENTRY
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
@@ -37,20 +37,13 @@ SENTRY
 INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#ifdef FGFS
-#  include <simgear/compiler.h>
-#  ifdef SG_HAVE_STD_INCLUDES
-#    include <vector>
-#  else
-#    include <vector.h>
-#  endif
-#else
-#  include <vector>
-#endif
-
-#include <string>
 #include "FGFCSComponent.h"
 #include <input_output/FGXMLElement.h>
+#include <vector>
+#include <string>
+
+using std::vector;
+using std::string;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 DEFINITIONS
@@ -68,7 +61,52 @@ namespace JSBSim {
 CLASS DOCUMENTATION
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-/** Encapsulates a kinematic component for the flight control system.
+/** Encapsulates a kinematic (mechanical) component for the flight control system.
+This component models the action of a moving effector, such as an aerosurface or
+other mechanized entity such as a landing gear strut for the purpose of effecting
+vehicle control or configuration. The form of the component specification is:
+
+@code
+<kinematic name="Gear Control">
+  <input> [-]property </input>
+  <traverse>
+    <setting>
+      <position> number </position>
+      <time> number </time>
+    </setting>
+    ...
+  </traverse>
+  [<clipto>
+    <min> {[-]property name | value} </min>
+    <max> {[-]property name | value} </max>
+  </clipto>]
+  [<gain> {property name | value} </gain>]
+  [<output> {property} </output>]
+</kinematic>
+@endcode
+
+The detent is the position that the component takes, and the lag is the time it
+takes to get to that position from an adjacent setting. For example:
+
+@code
+<kinematic name="Gear Control">
+  <input>gear/gear-cmd-norm</input>
+  <traverse>
+    <setting>
+      <position>0</position>
+      <time>0</time>
+    </setting>
+    <setting>
+      <position>1</position>
+      <time>5</time>
+    </setting>
+  </traverse>
+  <output>gear/gear-pos-norm</output>
+</kinematic>
+@endcode
+
+In this case, it takes 5 seconds to get to a 1 setting. As this is a software
+mechanization of a servo-actuator, there should be an output specified.
   */
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -77,31 +115,24 @@ CLASS DECLARATION
 
 class FGKinemat  : public FGFCSComponent {
 public:
-  /** Initializer.
-      @param fcs A reference to the ccurrent flightcontrolsystem.
-      @param AC_cfg reference to the current aircraft configuration file.
-      Initializes the FGKinemat object from the given configuration
-      file. The Configuration file is expected to be at the stream
-      position where the KINEMAT object starts. Also it is expected to
-      be past the end of the current KINEMAT configuration on exit.
+  /** Constructor.
+      @param fcs A reference to the current flight control system.
+      @param element reference to the current configuration file node.
    */
   FGKinemat(FGFCS* fcs, Element* element);
 
-  /** Destructor.
-   */
+  /// Destructor.
   ~FGKinemat();
-  
-  /** Kinemat output value.
-      @return the current output of the kinemat object on the range of [0,1].
-   */
+
+  /** Kinematic component output value.
+      @return the current output of the kinematic object on the range of [0,1]. */
   double GetOutputPct() const { return OutputPct; }
-    
-  /** Run method, overwrites FGModel::Run().
+
+  /** Run method, overrides FGModel::Run().
       @return false on success, true on failure.
-      The routine doing the work.
-   */
+      The routine doing the work.  */
   bool Run (void);
-  
+
 private:
   vector<double> Detents;
   vector<double> TransitionTimes;