flightgear/src/FDM/JSBSim/FGState.h

/*******************************************************************************

 Header:       FGState.h
 Author:       Jon S. Berndt
 Date started: 11/17/98

 ------------- Copyright (C) 1999  Jon S. Berndt (jsb@hal-pc.org) -------------

 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
 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
 details.

 You should have received a copy of the GNU 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
 the world wide web at http://www.gnu.org.

FUNCTIONAL DESCRIPTION
--------------------------------------------------------------------------------

Based on Flightgear code, which is based on LaRCSim. This class wraps all
global state variables (such as velocity, position, orientation, etc.).

HISTORY
--------------------------------------------------------------------------------
11/17/98   JSB   Created

********************************************************************************
SENTRY
*******************************************************************************/

#ifndef FGSTATE_H
#define FGSTATE_H

/*******************************************************************************
INCLUDES
*******************************************************************************/

#ifdef FGFS
#  include <simgear/compiler.h>
#  include STL_STRING
#  ifdef FG_HAVE_STD_INCLUDES
#    include <fstream>
#  else
#    include <fstream.h>
#  endif
   FG_USING_STD(string);
#else
#  include <string>
#  include <fstream>
#endif

#include <map>
#include "FGDefs.h"
#include "FGInitialCondition.h"
#include "FGMatrix.h"

/*******************************************************************************
DEFINES
*******************************************************************************/

using namespace std;

/*******************************************************************************
CLASS DECLARATION
*******************************************************************************/

class FGFDMExec;

class FGState
{
public:
   FGState(FGFDMExec*);
  ~FGState(void);

  bool Reset(string, string, string);
  void Initialize(float, float, float, float, float, float, float, float, float);
  void Initialize(FGInitialCondition *FGIC);
  bool StoreData(string);

  inline float Getadot(void) {return adot;}
  inline float Getbdot(void) {return bdot;}

  inline float GetLocalAltitudeOverRunway(void) {return LocalAltitudeOverRunway;}
  inline float Geta(void) {return a;}

  inline float Getsim_time(void) {return sim_time;}
  inline float Getdt(void) {return dt;}

  float GetParameter(int val_idx);
  float GetParameter(string val_string);
  int GetParameterIndex(string val_string);

  inline void Setadot(float tt) {adot = tt;}
  inline void Setbdot(float tt) {bdot = tt;}

  inline void SetLocalAltitudeOverRunway(float tt) {LocalAltitudeOverRunway = tt;}
  inline void Seta(float tt) {a = tt;}

  inline float Setsim_time(float tt) {sim_time = tt; return sim_time;}
  inline void  Setdt(float tt) {dt = tt;}

  void SetParameter(int, float);

  inline float IncrTime(void) {sim_time+=dt;return sim_time;}
  void InitMatrices(float phi, float tht, float psi);
  void CalcMatrices(void);
  void IntegrateQuat(FGColumnVector vPQR, int rate);
  FGColumnVector CalcEuler(void);
  FGMatrix GetTs2b(float alpha, float beta);
  FGMatrix GetTl2b(void) {return mTl2b;}
  FGMatrix GetTb2l(void) {return mTb2l;}

private:

  float adot, bdot;                 // alpha dot and beta dot
  float a;                          // speed of sound
  float sim_time, dt;

  FGFDMExec* FDMExec;
  float LocalAltitudeOverRunway;
  FGMatrix mTb2l;
  FGMatrix mTl2b;
  FGMatrix mTs2b;
  FGColumnVector vQtrn;

  typedef map<string, long> CoeffMap;
  CoeffMap coeffdef;

protected:
  enum {ePhi=1, eTht, ePsi};
  enum {eP=1, eQ, eR};
};

/******************************************************************************/
#endif