Merge branch 'ehofman/jsbsim'

src/FDM/JSBSim/FGFDMExec.cpp

@@ -43,29 +43,32 @@ INCLUDES
 
 #include "FGFDMExec.h"
 #include "FGState.h"
-#include <models/FGAtmosphere.h>
+#include "models/FGAtmosphere.h"
-#include <models/atmosphere/FGMSIS.h>
+#include "models/atmosphere/FGMSIS.h"
-#include <models/atmosphere/FGMars.h>
+#include "models/atmosphere/FGMars.h"
-#include <models/FGFCS.h>
+#include "models/FGFCS.h"
-#include <models/FGPropulsion.h>
+#include "models/FGPropulsion.h"
-#include <models/FGMassBalance.h>
+#include "models/FGMassBalance.h"
-#include <models/FGGroundReactions.h>
+#include "models/FGGroundReactions.h"
-#include <models/FGExternalReactions.h>
+#include "models/FGExternalReactions.h"
-#include <models/FGBuoyantForces.h>
+#include "models/FGBuoyantForces.h"
-#include <models/FGAerodynamics.h>
+#include "models/FGAerodynamics.h"
-#include <models/FGInertial.h>
+#include "models/FGInertial.h"
-#include <models/FGAircraft.h>
+#include "models/FGAircraft.h"
-#include <models/FGPropagate.h>
+#include "models/FGPropagate.h"
-#include <models/FGAuxiliary.h>
+#include "models/FGAuxiliary.h"
-#include <models/FGInput.h>
+#include "models/FGInput.h"
-#include <models/FGOutput.h>
+#include "models/FGOutput.h"
-#include <initialization/FGInitialCondition.h>
+#include "initialization/FGInitialCondition.h"
-//#include <initialization/FGTrimAnalysis.h> // Remove until later
+//#include "initialization/FGTrimAnalysis.h" // Remove until later
-#include <input_output/FGPropertyManager.h>
+#include "input_output/FGPropertyManager.h"
-#include <input_output/FGScript.h>
+#include "input_output/FGScript.h"
 
 #include <iostream>
 #include <iterator>
+#include <cstdlib>
+
+using namespace std;
 
 namespace JSBSim {
 
@@ -713,13 +716,13 @@ void FGFDMExec::BuildPropertyCatalog(struct PropertyCatalogStructure* pcs)
 {
   struct PropertyCatalogStructure* pcsNew = new struct PropertyCatalogStructure;
   int node_idx = 0;
-  char int_buf[10];
 
-  for (unsigned int i=0; i<pcs->node->nChildren(); i++) {
+  for (int i=0; i<pcs->node->nChildren(); i++) {
     pcsNew->base_string = pcs->base_string + "/" + pcs->node->getChild(i)->getName();
     node_idx = pcs->node->getChild(i)->getIndex();
-    sprintf(int_buf, "[%d]", node_idx);
+    if (node_idx != 0) {
-    if (node_idx != 0) pcsNew->base_string += string(int_buf);
+      pcsNew->base_string = CreateIndexedPropertyName(pcsNew->base_string, node_idx);
+    }
     if (pcs->node->getChild(i)->nChildren() == 0) {
       if (pcsNew->base_string.substr(0,11) == string("/fdm/jsbsim")) {
         pcsNew->base_string = pcsNew->base_string.erase(0,12);

src/FDM/JSBSim/FGFDMExec.h

@@ -41,17 +41,17 @@ SENTRY
 INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#include <models/FGModel.h>
+#include "models/FGModel.h"
-#include <models/FGOutput.h>
+#include "models/FGOutput.h"
-#include <models/FGInput.h>
+#include "models/FGInput.h"
-#include <initialization/FGTrim.h>
+#include "initialization/FGTrim.h"
-#include <initialization/FGInitialCondition.h>
+#include "initialization/FGInitialCondition.h"
-#include <FGJSBBase.h>
+#include "FGJSBBase.h"
-#include <input_output/FGPropertyManager.h>
+#include "input_output/FGPropertyManager.h"
-#include <input_output/FGGroundCallback.h>
+#include "input_output/FGGroundCallback.h"
-#include <input_output/FGXMLFileRead.h>
+#include "input_output/FGXMLFileRead.h"
-#include <models/FGPropagate.h>
+#include "models/FGPropagate.h"
-#include <math/FGColumnVector3.h>
+#include "math/FGColumnVector3.h"
 
 #include <vector>
 #include <string>

src/FDM/JSBSim/FGJSBBase.cpp

@@ -39,6 +39,8 @@ INCLUDES
 
 #include "FGJSBBase.h"
 #include <iostream>
+#include <sstream>
+#include <cstdlib>
 
 namespace JSBSim {
 
@@ -240,5 +242,43 @@ void FGJSBBase::disableHighLighting(void) {
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
+string FGJSBBase::CreateIndexedPropertyName(const string& Property, int index)
+{
+  std::ostringstream buf;
+  buf << Property << '[' << index << ']';
+  return buf.str();
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+double FGJSBBase::GaussianRandomNumber(void)
+{
+  static double V1, V2, S;
+  static int phase = 0;
+  double X;
+
+  if (phase == 0) {
+    V1 = V2 = S = X = 0.0;
+
+    do {
+      double U1 = (double)rand() / RAND_MAX;
+      double U2 = (double)rand() / RAND_MAX;
+
+      V1 = 2 * U1 - 1;
+      V2 = 2 * U2 - 1;
+      S = V1 * V1 + V2 * V2;
+    } while(S >= 1 || S == 0);
+
+    X = V1 * sqrt(-2 * log(S) / S);
+  } else
+    X = V2 * sqrt(-2 * log(S) / S);
+
+  phase = 1 - phase;
+
+  return X;
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
 } // namespace JSBSim
 

src/FDM/JSBSim/FGJSBBase.h

@@ -41,21 +41,22 @@ INCLUDES
 #include <float.h>
 #include <queue>
 #include <string>
-#include <sstream>
 #include <cmath>
-#include <cstdlib>
 
 #include "input_output/string_utilities.h"
 
-using std::fabs;
-using std::string;
-
 #ifndef M_PI
 #  define M_PI 3.14159265358979323846
 #endif
 
-#if !defined(WIN32) || defined(__GNUC__) || (defined(_MSC_VER) && (_MSC_VER >= 1300))
+#if defined(_MSC_VER) && (_MSC_VER < 1300)
-  using std::max;
+namespace std
+{
+  template <class T> inline T max(const T& a, const T& b)
+  {
+    return (a > b) ? a : b;
+  }
+}
 #endif
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -98,8 +99,8 @@ public:
   public:
     unsigned int fdmId;
     unsigned int messageId;
-    string text;
+    std::string text;
-    string subsystem;
+    std::string subsystem;
     enum mType {eText, eInteger, eDouble, eBool} type;
     bool bVal;
     int  iVal;
@@ -162,22 +163,22 @@ public:
   /** Creates a message with the given text and places it on the queue.
       @param text message text
       @return pointer to a Message structure */
-  void PutMessage(const string& text);
+  void PutMessage(const std::string& text);
   /** Creates a message with the given text and boolean value and places it on the queue.
       @param text message text
       @param bVal boolean value associated with the message
       @return pointer to a Message structure */
-  void PutMessage(const string& text, bool bVal);
+  void PutMessage(const std::string& text, bool bVal);
   /** Creates a message with the given text and integer value and places it on the queue.
       @param text message text
       @param iVal integer value associated with the message
       @return pointer to a Message structure */
-  void PutMessage(const string& text, int iVal);
+  void PutMessage(const std::string& text, int iVal);
   /** Creates a message with the given text and double value and places it on the queue.
       @param text message text
       @param dVal double value associated with the message
       @return pointer to a Message structure */
-  void PutMessage(const string& text, double dVal);
+  void PutMessage(const std::string& text, double dVal);
   /** Reads the message on the queue (but does not delete it).
       @return 1 if some messages */
   int SomeMessages(void);
@@ -192,7 +193,7 @@ public:
 
   /** Returns the version number of JSBSim.
   *   @return The version number of JSBSim. */
-  string GetVersion(void) {return JSBSim_version;}
+  std::string GetVersion(void) {return JSBSim_version;}
 
   /// Disables highlighting in the console output.
   void disableHighLighting(void);
@@ -268,7 +269,7 @@ public:
       @return if the two values can be considered equal up to roundoff */
   static bool EqualToRoundoff(double a, double b) {
     double eps = 2.0*DBL_EPSILON;
-    return fabs(a - b) <= eps*max(fabs(a), fabs(b));
+    return std::fabs(a - b) <= eps*std::max(std::fabs(a), std::fabs(b));
   }
 
   /** Finite precision comparison.
@@ -277,7 +278,7 @@ public:
       @return if the two values can be considered equal up to roundoff */
   static bool EqualToRoundoff(float a, float b) {
     float eps = 2.0*FLT_EPSILON;
-    return fabs(a - b) <= eps*max(fabs(a), fabs(b));
+    return std::fabs(a - b) <= eps*std::max(std::fabs(a), std::fabs(b));
   }
 
   /** Finite precision comparison.
@@ -331,44 +332,12 @@ protected:
   static const double slugtolb;
   static const double kgtolb;
   static const double kgtoslug;
-  static const string needed_cfg_version;
+  static const std::string needed_cfg_version;
-  static const string JSBSim_version;
+  static const std::string JSBSim_version;
 
-  static string CreateIndexedPropertyName(string Property, int index)
+  static std::string CreateIndexedPropertyName(const std::string& Property, int index);
-  {
-    std::stringstream str;
-    str << index;
-    string tmp;
-    str >> tmp;
-    return Property + "[" + tmp + "]";
-  }
 
-  static double GaussianRandomNumber(void)
+  static double GaussianRandomNumber(void);
-  {
-    static double V1, V2, S;
-    static int phase = 0;
-    double X;
-
-    if (phase == 0) {
-      V1 = V2 = S = X = 0.0;
-
-      do {
-        double U1 = (double)rand() / RAND_MAX;
-        double U2 = (double)rand() / RAND_MAX;
-
-        V1 = 2 * U1 - 1;
-        V2 = 2 * U2 - 1;
-        S = V1 * V1 + V2 * V2;
-      } while(S >= 1 || S == 0);
-
-      X = V1 * sqrt(-2 * log(S) / S);
-    } else
-      X = V2 * sqrt(-2 * log(S) / S);
-
-    phase = 1 - phase;
-
-    return X;
-  }
 
 public:
 /// Moments L, M, N

src/FDM/JSBSim/FGState.cpp

@@ -37,9 +37,12 @@ INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #include <cmath>
+#include <iostream>
 
 #include "FGState.h"
 
+using namespace std;
+
 namespace JSBSim {
 
 static const char *IdSrc = "$Id$";

src/FDM/JSBSim/FGState.h

@@ -45,18 +45,18 @@ INCLUDES
 #include <string>
 #include <map>
 #include "FGJSBBase.h"
-#include <initialization/FGInitialCondition.h>
+#include "initialization/FGInitialCondition.h"
-#include <math/FGColumnVector3.h>
+#include "math/FGColumnVector3.h"
-#include <math/FGQuaternion.h>
+#include "math/FGQuaternion.h"
 #include "FGFDMExec.h"
-#include <models/FGAtmosphere.h>
+#include "models/FGAtmosphere.h"
-#include <models/FGFCS.h>
+#include "models/FGFCS.h"
-#include <models/FGPropagate.h>
+#include "models/FGPropagate.h"
-#include <models/FGAuxiliary.h>
+#include "models/FGAuxiliary.h"
-#include <models/FGAerodynamics.h>
+#include "models/FGAerodynamics.h"
-#include <models/FGAircraft.h>
+#include "models/FGAircraft.h"
-#include <models/FGGroundReactions.h>
+#include "models/FGGroundReactions.h"
-#include <models/FGPropulsion.h>
+#include "models/FGPropulsion.h"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 DEFINITIONS

src/FDM/JSBSim/JSBSim.cxx

@@ -258,6 +258,10 @@ FGJSBsim::FGJSBsim( double dt )
     speedbrake_pos_pct->setDoubleValue(0);
     spoilers_pos_pct->setDoubleValue(0);
 
+    ab_brake_engaged = fgGetNode("/autopilot/autobrake/engaged", true);
+    ab_brake_left_pct = fgGetNode("/autopilot/autobrake/brake-left-output", true);
+    ab_brake_right_pct = fgGetNode("/autopilot/autobrake/brake-right-output", true);
+    
     temperature = fgGetNode("/environment/temperature-degc",true);
     pressure = fgGetNode("/environment/pressure-inhg",true);
     density = fgGetNode("/environment/density-slugft3",true);
@@ -542,8 +546,18 @@ bool FGJSBsim::copy_to_JSBsim()
         // Parking brake sets minimum braking
         // level for mains.
     double parking_brake = globals->get_controls()->get_brake_parking();
-    FCS->SetLBrake(FMAX(globals->get_controls()->get_brake_left(), parking_brake));
+    double left_brake = globals->get_controls()->get_brake_left();
-    FCS->SetRBrake(FMAX(globals->get_controls()->get_brake_right(), parking_brake));
+    double right_brake = globals->get_controls()->get_brake_right();
+    
+    if (ab_brake_engaged->getBoolValue()) {
+      left_brake = ab_brake_left_pct->getDoubleValue();
+      right_brake = ab_brake_right_pct->getDoubleValue(); 
+    }
+    
+    FCS->SetLBrake(FMAX(left_brake, parking_brake));
+    FCS->SetRBrake(FMAX(right_brake, parking_brake));
+    
+    
     FCS->SetCBrake( 0.0 );
     // FCS->SetCBrake( globals->get_controls()->get_brake(2) );
 
@@ -741,9 +755,7 @@ bool FGJSBsim::copy_from_JSBsim()
     // Copy the engine values from JSBSim.
     for ( i=0; i < Propulsion->GetNumEngines(); i++ ) {
       SGPropertyNode * node = fgGetNode("engines/engine", i, true);
-      char buf[30];
+      SGPropertyNode * tnode = node->getChild("thruster", 0, true);
-      sprintf(buf, "engines/engine[%d]/thruster", i);
-      SGPropertyNode * tnode = fgGetNode(buf, true);
       FGThruster * thruster = Propulsion->GetEngine(i)->GetThruster();
 
       switch (Propulsion->GetEngine(i)->GetType()) {

src/FDM/JSBSim/JSBSim.hxx

@@ -254,6 +254,10 @@ private:
     SGPropertyNode_ptr speedbrake_pos_pct;
     SGPropertyNode_ptr spoilers_pos_pct;
 
+    SGPropertyNode_ptr ab_brake_engaged;
+    SGPropertyNode_ptr ab_brake_left_pct;
+    SGPropertyNode_ptr ab_brake_right_pct;
+    
     SGPropertyNode_ptr gear_pos_pct;
     SGPropertyNode_ptr wing_fold_pos_pct;
     SGPropertyNode_ptr tailhook_pos_pct;

src/FDM/JSBSim/initialization/FGInitialCondition.cpp

@@ -43,16 +43,21 @@ INCLUDES
 *******************************************************************************/
 
 #include "FGInitialCondition.h"
-#include <FGFDMExec.h>
+#include "FGFDMExec.h"
-#include <models/FGInertial.h>
+#include "models/FGInertial.h"
-#include <models/FGAtmosphere.h>
+#include "models/FGAtmosphere.h"
-#include <models/FGAerodynamics.h>
+#include "models/FGAerodynamics.h"
-#include <models/FGPropagate.h>
+#include "models/FGPropagate.h"
-#include <input_output/FGPropertyManager.h>
+#include "input_output/FGPropertyManager.h"
-#include <models/FGPropulsion.h>
+#include "input_output/FGXMLElement.h"
-#include <input_output/FGXMLParse.h>
+#include "models/FGPropulsion.h"
-#include <math/FGQuaternion.h>
+#include "input_output/FGXMLParse.h"
+#include "math/FGQuaternion.h"
+#include <iostream>
 #include <fstream>
+#include <cstdlib>
+
+using namespace std;
 
 namespace JSBSim {
 

src/FDM/JSBSim/initialization/FGInitialCondition.h

@@ -47,10 +47,10 @@ SENTRY
 INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#include <FGFDMExec.h>
+#include "FGFDMExec.h"
-#include <FGJSBBase.h>
+#include "FGJSBBase.h"
-#include <math/FGColumnVector3.h>
+#include "math/FGColumnVector3.h"
-#include <input_output/FGXMLFileRead.h>
+#include "input_output/FGXMLFileRead.h"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 DEFINITIONS

src/FDM/JSBSim/initialization/FGTrim.cpp

@@ -44,19 +44,21 @@ INCLUDES
 #include <cstdlib>
 #include <iomanip>
 #include "FGTrim.h"
-#include <models/FGAtmosphere.h>
+#include "models/FGAtmosphere.h"
 #include "FGInitialCondition.h"
-#include <models/FGAircraft.h>
+#include "models/FGAircraft.h"
-#include <models/FGMassBalance.h>
+#include "models/FGMassBalance.h"
-#include <models/FGGroundReactions.h>
+#include "models/FGGroundReactions.h"
-#include <models/FGInertial.h>
+#include "models/FGInertial.h"
-#include <models/FGAerodynamics.h>
+#include "models/FGAerodynamics.h"
-#include <math/FGColumnVector3.h>
+#include "math/FGColumnVector3.h"
 
 #if _MSC_VER
 #pragma warning (disable : 4786 4788)
 #endif
 
+using namespace std;
+
 namespace JSBSim {
 
 static const char *IdSrc = "$Id$";

src/FDM/JSBSim/initialization/FGTrimAxis.cpp

@@ -38,13 +38,20 @@ INCLUDES
 
 #include <string>
 #include <cstdlib>
-#include <FGFDMExec.h>
+#include <iomanip>
-#include <models/FGAtmosphere.h>
+#include "FGFDMExec.h"
+#include "models/FGAtmosphere.h"
 #include "FGInitialCondition.h"
 #include "FGTrimAxis.h"
-#include <models/FGAircraft.h>
+#include "models/FGAircraft.h"
-#include <models/FGPropulsion.h>
+#include "models/FGPropulsion.h"
-#include <models/FGAerodynamics.h>
+#include "models/FGAerodynamics.h"
+#include "models/FGFCS.h"
+#include "models/propulsion/FGEngine.h"
+#include "models/FGAuxiliary.h"
+#include "models/FGGroundReactions.h"
+
+using namespace std;
 
 namespace JSBSim {
 
@@ -427,13 +434,11 @@ void FGTrimAxis::setThrottlesPct(void) {
 /*****************************************************************************/
 
 void FGTrimAxis::AxisReport(void) {
-
+  cout << "  " << setw(20) << GetControlName() << ": ";
-  char out[80];
+  cout << setw(6) << setprecision(2) << GetControl()*control_convert << ' ';
-
+  cout << setw(5) << GetStateName() << ": ";
-  sprintf(out,"  %20s: %6.2f %5s: %9.2e Tolerance: %3.0e",
+  cout << setw(9) << setprecision(2) << scientific << GetState()+state_target;
-           GetControlName().c_str(), GetControl()*control_convert,
+  cout << " Tolerance: " << setw(3) << setprecision(0) << scientific << GetTolerance();
-           GetStateName().c_str(), GetState()+state_target, GetTolerance());
-  cout << out;
 
   if( fabs(GetState()+state_target) < fabs(GetTolerance()) )
      cout << "  Passed" << endl;

src/FDM/JSBSim/input_output/FGGroundCallback.cpp

@@ -31,8 +31,8 @@ HISTORY
 SENTRY
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#include <math/FGColumnVector3.h>
+#include "math/FGColumnVector3.h"
-#include <math/FGLocation.h>
+#include "math/FGLocation.h"
 #include "FGGroundCallback.h"
 
 namespace JSBSim {

src/FDM/JSBSim/input_output/FGGroundCallback.h

@@ -38,8 +38,8 @@ SENTRY
 INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#include <math/FGColumnVector3.h>
+#include "math/FGColumnVector3.h"
-#include <math/FGLocation.h>
+#include "math/FGLocation.h"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 DEFINITIONS

src/FDM/JSBSim/input_output/FGPropertyManager.h

@@ -42,10 +42,9 @@ INCLUDES
 #endif
 
 #include <string>
-#include <iostream>
+#include "simgear/props/props.hxx"
-#include <simgear/props/props.hxx>
 #if !PROPS_STANDALONE
-# include <simgear/math/SGMath.hxx>
+# include "simgear/math/SGMath.hxx"
 #endif
 
 #include "FGJSBBase.h"
@@ -60,8 +59,6 @@ DEFINITIONS
 FORWARD DECLARATIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-using namespace std;
-
 namespace JSBSim {
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -93,7 +90,7 @@ class FGPropertyManager : public SGPropertyNode, public FGJSBBase
      *  NOTE: this function changes its argument and thus relies
      *  on pass by value
      */
-    string mkPropertyName(string name, bool lowercase);
+    std::string mkPropertyName(std::string name, bool lowercase);
 
     /**
      * Get a property node.
@@ -103,10 +100,10 @@ class FGPropertyManager : public SGPropertyNode, public FGJSBBase
      * @return The node, or 0 if none exists and none was created.
      */
     FGPropertyManager*
-    GetNode (const string &path, bool create = false);
+    GetNode (const std::string &path, bool create = false);
 
     FGPropertyManager*
-    GetNode (const string &relpath, int index, bool create = false);
+    GetNode (const std::string &relpath, int index, bool create = false);
 
     /**
      * Test whether a given node exists.
@@ -114,23 +111,23 @@ class FGPropertyManager : public SGPropertyNode, public FGJSBBase
      * @param path The path of the node, relative to root.
      * @return true if the node exists, false otherwise.
      */
-    bool HasNode (const string &path);
+    bool HasNode (const std::string &path);
 
     /**
      * Get the name of a node
      */
-    string GetName( void );
+    std::string GetName( void );
 
     /**
      * Get the name of a node without underscores, etc.
      */
-    string GetPrintableName( void );
+    std::string GetPrintableName( void );
 
     /**
      * Get the fully qualified name of a node
      * This function is very slow, so is probably useful for debugging only.
      */
-    string GetFullyQualifiedName(void);
+    std::string GetFullyQualifiedName(void);
 
     /**
      * Get a bool value for a property.
@@ -146,7 +143,7 @@ class FGPropertyManager : public SGPropertyNode, public FGJSBBase
      *        does not exist.
      * @return The property's value as a bool, or the default value provided.
      */
-    bool GetBool (const string &name, bool defaultValue = false);
+    bool GetBool (const std::string &name, bool defaultValue = false);
 
 
     /**
@@ -163,7 +160,7 @@ class FGPropertyManager : public SGPropertyNode, public FGJSBBase
      *        does not exist.
      * @return The property's value as an int, or the default value provided.
      */
-    int GetInt (const string &name, int defaultValue = 0);
+    int GetInt (const std::string &name, int defaultValue = 0);
 
 
     /**
@@ -180,7 +177,7 @@ class FGPropertyManager : public SGPropertyNode, public FGJSBBase
      *        does not exist.
      * @return The property's value as a long, or the default value provided.
      */
-    int GetLong (const string &name, long defaultValue = 0L);
+    int GetLong (const std::string &name, long defaultValue = 0L);
 
 
     /**
@@ -197,7 +194,7 @@ class FGPropertyManager : public SGPropertyNode, public FGJSBBase
      *        does not exist.
      * @return The property's value as a float, or the default value provided.
      */
-    float GetFloat (const string &name, float defaultValue = 0.0);
+    float GetFloat (const std::string &name, float defaultValue = 0.0);
 
 
     /**
@@ -214,7 +211,7 @@ class FGPropertyManager : public SGPropertyNode, public FGJSBBase
      *        does not exist.
      * @return The property's value as a double, or the default value provided.
      */
-    double GetDouble (const string &name, double defaultValue = 0.0);
+    double GetDouble (const std::string &name, double defaultValue = 0.0);
 
 
     /**
@@ -231,7 +228,7 @@ class FGPropertyManager : public SGPropertyNode, public FGJSBBase
      *        does not exist.
      * @return The property's value as a string, or the default value provided.
      */
-    string GetString (const string &name, string defaultValue = "");
+    std::string GetString (const std::string &name, std::string defaultValue = "");
 
 
     /**
@@ -247,7 +244,7 @@ class FGPropertyManager : public SGPropertyNode, public FGJSBBase
      * @param val The new value for the property.
      * @return true if the assignment succeeded, false otherwise.
      */
-    bool SetBool (const string &name, bool val);
+    bool SetBool (const std::string &name, bool val);
 
 
     /**
@@ -263,7 +260,7 @@ class FGPropertyManager : public SGPropertyNode, public FGJSBBase
      * @param val The new value for the property.
      * @return true if the assignment succeeded, false otherwise.
      */
-    bool SetInt (const string &name, int val);
+    bool SetInt (const std::string &name, int val);
 
 
     /**
@@ -279,7 +276,7 @@ class FGPropertyManager : public SGPropertyNode, public FGJSBBase
      * @param val The new value for the property.
      * @return true if the assignment succeeded, false otherwise.
      */
-    bool SetLong (const string &name, long val);
+    bool SetLong (const std::string &name, long val);
 
 
     /**
@@ -295,7 +292,7 @@ class FGPropertyManager : public SGPropertyNode, public FGJSBBase
      * @param val The new value for the property.
      * @return true if the assignment succeeded, false otherwise.
      */
-    bool SetFloat (const string &name, float val);
+    bool SetFloat (const std::string &name, float val);
 
 
     /**
@@ -311,7 +308,7 @@ class FGPropertyManager : public SGPropertyNode, public FGJSBBase
      * @param val The new value for the property.
      * @return true if the assignment succeeded, false otherwise.
      */
-    bool SetDouble (const string &name, double val);
+    bool SetDouble (const std::string &name, double val);
 
 
     /**
@@ -327,7 +324,7 @@ class FGPropertyManager : public SGPropertyNode, public FGJSBBase
      * @param val The new value for the property.
      * @return true if the assignment succeeded, false otherwise.
      */
-    bool SetString (const string &name, const string &val);
+    bool SetString (const std::string &name, const std::string &val);
 
 
     ////////////////////////////////////////////////////////////////////////
@@ -347,7 +344,7 @@ class FGPropertyManager : public SGPropertyNode, public FGJSBBase
      * @param name The property name.
      * @param state The state of the archive attribute (defaults to true).
      */
-    void SetArchivable (const string &name, bool state = true);
+    void SetArchivable (const std::string &name, bool state = true);
 
 
     /**
@@ -362,7 +359,7 @@ class FGPropertyManager : public SGPropertyNode, public FGJSBBase
      * @param name The property name.
      * @param state The state of the read attribute (defaults to true).
      */
-    void SetReadable (const string &name, bool state = true);
+    void SetReadable (const std::string &name, bool state = true);
 
 
     /**
@@ -377,7 +374,7 @@ class FGPropertyManager : public SGPropertyNode, public FGJSBBase
      * @param name The property name.
      * @param state The state of the write attribute (defaults to true).
      */
-    void SetWritable (const string &name, bool state = true);
+    void SetWritable (const std::string &name, bool state = true);
 
 
     ////////////////////////////////////////////////////////////////////////
@@ -391,7 +388,7 @@ class FGPropertyManager : public SGPropertyNode, public FGJSBBase
      * Classes should use this function to release control of any
      * properties they are managing.
      */
-    void Untie (const string &name);
+    void Untie (const std::string &name);
 
 
         // Templates cause ambiguity here
@@ -409,7 +406,7 @@ class FGPropertyManager : public SGPropertyNode, public FGJSBBase
      *        be modified; defaults to true.
      */
     void
-    Tie (const string &name, bool *pointer, bool useDefault = true);
+    Tie (const std::string &name, bool *pointer, bool useDefault = true);
 
 
     /**
@@ -425,7 +422,7 @@ class FGPropertyManager : public SGPropertyNode, public FGJSBBase
      *        be modified; defaults to true.
      */
     void
-    Tie (const string &name, int *pointer, bool useDefault = true);
+    Tie (const std::string &name, int *pointer, bool useDefault = true);
 
 
     /**
@@ -441,7 +438,7 @@ class FGPropertyManager : public SGPropertyNode, public FGJSBBase
      *        be modified; defaults to true.
      */
     void
-    Tie (const string &name, long *pointer, bool useDefault = true);
+    Tie (const std::string &name, long *pointer, bool useDefault = true);
 
 
     /**
@@ -457,7 +454,7 @@ class FGPropertyManager : public SGPropertyNode, public FGJSBBase
      *        be modified; defaults to true.
      */
     void
-    Tie (const string &name, float *pointer, bool useDefault = true);
+    Tie (const std::string &name, float *pointer, bool useDefault = true);
 
     /**
      * Tie a property to an external double variable.
@@ -472,7 +469,7 @@ class FGPropertyManager : public SGPropertyNode, public FGJSBBase
      *        be modified; defaults to true.
      */
     void
-    Tie (const string &name, double *pointer, bool useDefault = true);
+    Tie (const std::string &name, double *pointer, bool useDefault = true);
 
 //============================================================================
 //
@@ -482,19 +479,19 @@ class FGPropertyManager : public SGPropertyNode, public FGJSBBase
 //============================================================================
 
     /* template <class V> void
-    Tie (const string &name, V (*getter)(), void (*setter)(V) = 0,
+    Tie (const std::string &name, V (*getter)(), void (*setter)(V) = 0,
            bool useDefault = true);
 
     template <class V> void
-    Tie (const string &name, int index, V (*getter)(int),
+    Tie (const std::string &name, int index, V (*getter)(int),
            void (*setter)(int, V) = 0, bool useDefault = true);
 
     template <class T, class V> void
-    Tie (const string &name, T * obj, V (T::*getter)() const,
+    Tie (const std::string &name, T * obj, V (T::*getter)() const,
            void (T::*setter)(V) = 0, bool useDefault = true);
 
     template <class T, class V> void
-    Tie (const string &name, T * obj, int index,
+    Tie (const std::string &name, T * obj, int index,
            V (T::*getter)(int) const, void (T::*setter)(int, V) = 0,
            bool useDefault = true); */
 
@@ -516,12 +513,12 @@ class FGPropertyManager : public SGPropertyNode, public FGJSBBase
      */
 
     template <class V> inline void
-    Tie (const string &name, V (*getter)(), void (*setter)(V) = 0, bool useDefault = true)
+    Tie (const std::string &name, V (*getter)(), void (*setter)(V) = 0, bool useDefault = true)
     {
       if (!tie(name.c_str(), SGRawValueFunctions<V>(getter, setter), useDefault))
-        cout << "Failed to tie property " << name << " to functions" << endl;
+        std::cout << "Failed to tie property " << name << " to functions" << std::endl;
       else if (debug_lvl & 0x20)
-        cout << name << endl;
+        std::cout << name << std::endl;
     }
 
 
@@ -543,13 +540,13 @@ class FGPropertyManager : public SGPropertyNode, public FGJSBBase
      *        property value should there be one; false if the old value should be
      *        discarded; defaults to true.
      */
-    template <class V> inline void Tie (const string &name, int index, V (*getter)(int),
+    template <class V> inline void Tie (const std::string &name, int index, V (*getter)(int),
                                 void (*setter)(int, V) = 0, bool useDefault = true)
     {
       if (!tie(name.c_str(), SGRawValueFunctionsIndexed<V>(index, getter, setter), useDefault))
-        cout << "Failed to tie property " << name << " to indexed functions" << endl;
+        std::cout << "Failed to tie property " << name << " to indexed functions" << std::endl;
       else if (debug_lvl & 0x20)
-        cout << name << endl;
+        std::cout << name << std::endl;
     }
 
 
@@ -573,13 +570,13 @@ class FGPropertyManager : public SGPropertyNode, public FGJSBBase
      *        discarded; defaults to true.
      */
     template <class T, class V> inline void
-    Tie (const string &name, T * obj, V (T::*getter)() const,
+    Tie (const std::string &name, T * obj, V (T::*getter)() const,
            void (T::*setter)(V) = 0, bool useDefault = true)
     {
       if (!tie(name.c_str(), SGRawValueMethods<T,V>(*obj, getter, setter), useDefault))
-        cout << "Failed to tie property " << name << " to object methods" << endl;
+        std::cout << "Failed to tie property " << name << " to object methods" << std::endl;
       else if (debug_lvl & 0x20)
-        cout << name << endl;
+        std::cout << name << std::endl;
     }
 
     /**
@@ -602,13 +599,13 @@ class FGPropertyManager : public SGPropertyNode, public FGJSBBase
      *        discarded; defaults to true.
      */
     template <class T, class V> inline void
-    Tie (const string &name, T * obj, int index, V (T::*getter)(int) const,
+    Tie (const std::string &name, T * obj, int index, V (T::*getter)(int) const,
                          void (T::*setter)(int, V) = 0, bool useDefault = true)
     {
       if (!tie(name.c_str(), SGRawValueMethodsIndexed<T,V>(*obj, index, getter, setter), useDefault))
-        cout << "Failed to tie property " << name << " to indexed object methods" << endl;
+        std::cout << "Failed to tie property " << name << " to indexed object methods" << std::endl;
       else if (debug_lvl & 0x20)
-        cout << name << endl;
+        std::cout << name << std::endl;
    }
 };
 }

src/FDM/JSBSim/input_output/FGScript.cpp

@@ -42,10 +42,13 @@ INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #include "FGScript.h"
-#include <input_output/FGXMLParse.h>
+#include "input_output/FGXMLParse.h"
-#include <initialization/FGTrim.h>
+#include "initialization/FGTrim.h"
 
 #include <iostream>
+#include <cstdlib>
+
+using namespace std;
 
 namespace JSBSim {
 

src/FDM/JSBSim/input_output/FGScript.h

@@ -40,10 +40,10 @@ INCLUDES
 #include "FGJSBBase.h"
 #include "FGState.h"
 #include "FGFDMExec.h"
-#include <math/FGFunction.h>
+#include "math/FGFunction.h"
-#include <math/FGCondition.h>
+#include "math/FGCondition.h"
 #include <vector>
-#include <input_output/FGXMLFileRead.h>
+#include "input_output/FGXMLFileRead.h"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 DEFINITIONS

src/FDM/JSBSim/input_output/FGXMLElement.cpp

@@ -32,6 +32,9 @@ INCLUDES
 
 #include <cmath>
 #include <cstdlib>
+#include <iostream>
+
+using namespace std;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
@@ -42,159 +45,171 @@ namespace JSBSim {
 static const char *IdSrc = "$Id$";
 static const char *IdHdr = ID_XMLELEMENT;
 
+bool Element::converterIsInitialized = false;
+map <string, map <string, double> > Element::convert;
+
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 CLASS IMPLEMENTATION
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-Element::Element(string nm)
+Element::Element(const string& nm)
 {
   name   = nm;
   parent = 0L;
   element_index = 0;
 
-  // convert ["from"]["to"] = factor, so: from * factor = to
+  if (!converterIsInitialized) {
-  // Length
+    converterIsInitialized = true;
-  convert["M"]["FT"] = 3.2808399;
+    // convert ["from"]["to"] = factor, so: from * factor = to
-  convert["FT"]["M"] = 1.0/convert["M"]["FT"];
+    // Length
-  convert["FT"]["IN"] = 12.0;
+    convert["M"]["FT"] = 3.2808399;
-  convert["IN"]["FT"] = 1.0/convert["FT"]["IN"];
+    convert["FT"]["M"] = 1.0/convert["M"]["FT"];
-  convert["IN"]["M"] = convert["IN"]["FT"] * convert["FT"]["M"];
+    convert["FT"]["IN"] = 12.0;
-  convert["M"]["IN"] = convert["M"]["FT"] * convert["FT"]["IN"];
+    convert["IN"]["FT"] = 1.0/convert["FT"]["IN"];
-  // Area
+    convert["IN"]["M"] = convert["IN"]["FT"] * convert["FT"]["M"];
-  convert["M2"]["FT2"] = convert["M"]["FT"]*convert["M"]["FT"];
+    convert["M"]["IN"] = convert["M"]["FT"] * convert["FT"]["IN"];
-  convert["FT2"]["M2"] = 1.0/convert["M2"]["FT2"];
+    // Area
-  convert["M2"]["IN2"] = convert["M"]["IN"]*convert["M"]["IN"];
+    convert["M2"]["FT2"] = convert["M"]["FT"]*convert["M"]["FT"];
-  convert["IN2"]["M2"] = 1.0/convert["M2"]["IN2"];
+    convert["FT2"]["M2"] = 1.0/convert["M2"]["FT2"];
-  convert["FT2"]["IN2"] = 144.0;
+    convert["M2"]["IN2"] = convert["M"]["IN"]*convert["M"]["IN"];
-  convert["IN2"]["FT2"] = 1.0/convert["FT2"]["IN2"];
+    convert["IN2"]["M2"] = 1.0/convert["M2"]["IN2"];
-  // Volume
+    convert["FT2"]["IN2"] = 144.0;
-  convert["IN3"]["CC"] = 16.387064;
+    convert["IN2"]["FT2"] = 1.0/convert["FT2"]["IN2"];
-  convert["CC"]["IN3"] = 1.0/convert["IN3"]["CC"];
+    // Volume
-  convert["FT3"]["IN3"] = 1728.0;
+    convert["IN3"]["CC"] = 16.387064;
-  convert["IN3"]["FT3"] = 1.0/convert["FT3"]["IN3"];
+    convert["CC"]["IN3"] = 1.0/convert["IN3"]["CC"];
-  convert["M3"]["FT3"] = 35.3146667;
+    convert["FT3"]["IN3"] = 1728.0;
-  convert["FT3"]["M3"] = 1.0/convert["M3"]["FT3"];
+    convert["IN3"]["FT3"] = 1.0/convert["FT3"]["IN3"];
-  convert["LTR"]["IN3"] = 61.0237441;
+    convert["M3"]["FT3"] = 35.3146667;
-  convert["IN3"]["LTR"] = 1.0/convert["LTR"]["IN3"];
+    convert["FT3"]["M3"] = 1.0/convert["M3"]["FT3"];
-  // Mass & Weight
+    convert["LTR"]["IN3"] = 61.0237441;
-  convert["LBS"]["KG"] = 0.45359237;
+    convert["IN3"]["LTR"] = 1.0/convert["LTR"]["IN3"];
-  convert["KG"]["LBS"] = 1.0/convert["LBS"]["KG"];
+    // Mass & Weight
-  convert["SLUG"]["KG"] = 14.59390;
+    convert["LBS"]["KG"] = 0.45359237;
-  convert["KG"]["SLUG"] = 1.0/convert["SLUG"]["KG"];
+    convert["KG"]["LBS"] = 1.0/convert["LBS"]["KG"];
-  // Moments of Inertia
+    convert["SLUG"]["KG"] = 14.59390;
-  convert["SLUG*FT2"]["KG*M2"] = 1.35594;
+    convert["KG"]["SLUG"] = 1.0/convert["SLUG"]["KG"];
-  convert["KG*M2"]["SLUG*FT2"] = 1.0/convert["SLUG*FT2"]["KG*M2"];
+    // Moments of Inertia
-  // Angles
+    convert["SLUG*FT2"]["KG*M2"] = 1.35594;
-  convert["RAD"]["DEG"] = 360.0/(2.0*3.1415926);
+    convert["KG*M2"]["SLUG*FT2"] = 1.0/convert["SLUG*FT2"]["KG*M2"];
-  convert["DEG"]["RAD"] = 1.0/convert["RAD"]["DEG"];
+    // Angles
-  // Spring force
+    convert["RAD"]["DEG"] = 360.0/(2.0*3.1415926);
-  convert["LBS/FT"]["N/M"] = 14.5939;
+    convert["DEG"]["RAD"] = 1.0/convert["RAD"]["DEG"];
-  convert["N/M"]["LBS/FT"] = 1.0/convert["LBS/FT"]["N/M"];
+    // Spring force
-  // Damping force
+    convert["LBS/FT"]["N/M"] = 14.5939;
-  convert["LBS/FT/SEC"]["N/M/SEC"] = 14.5939;
+    convert["N/M"]["LBS/FT"] = 1.0/convert["LBS/FT"]["N/M"];
-  convert["N/M/SEC"]["LBS/FT/SEC"] = 1.0/convert["LBS/FT/SEC"]["N/M/SEC"];
+    // Damping force
-  // Damping force (Square Law)
+    convert["LBS/FT/SEC"]["N/M/SEC"] = 14.5939;
-  convert["LBS/FT2/SEC2"]["N/M2/SEC2"] = 47.880259;
+    convert["N/M/SEC"]["LBS/FT/SEC"] = 1.0/convert["LBS/FT/SEC"]["N/M/SEC"];
-  convert["N/M2/SEC2"]["LBS/FT2/SEC2"] = 1.0/convert["LBS/FT2/SEC2"]["N/M2/SEC2"];
+    // Damping force (Square Law)
-  // Power
+    convert["LBS/FT2/SEC2"]["N/M2/SEC2"] = 47.880259;
-  convert["WATTS"]["HP"] = 0.001341022;
+    convert["N/M2/SEC2"]["LBS/FT2/SEC2"] = 1.0/convert["LBS/FT2/SEC2"]["N/M2/SEC2"];
-  convert["HP"]["WATTS"] = 1.0/convert["WATTS"]["HP"];
+    // Power
-  // Force
+    convert["WATTS"]["HP"] = 0.001341022;
-  convert["N"]["LBS"] = 0.22482;
+    convert["HP"]["WATTS"] = 1.0/convert["WATTS"]["HP"];
-  convert["LBS"]["N"] = 1.0/convert["N"]["LBS"];
+    // Force
-  // Velocity
+    convert["N"]["LBS"] = 0.22482;
-  convert["KTS"]["FT/SEC"] = 1.68781;
+    convert["LBS"]["N"] = 1.0/convert["N"]["LBS"];
-  convert["FT/SEC"]["KTS"] = 1.0/convert["KTS"]["FT/SEC"];
+    // Velocity
-  convert["M/S"]["FT/S"] = 3.2808399;
+    convert["KTS"]["FT/SEC"] = 1.68781;
-  convert["FT/S"]["M/S"] = 1.0/convert["M/S"]["FT/S"];
+    convert["FT/SEC"]["KTS"] = 1.0/convert["KTS"]["FT/SEC"];
-  // Torque
+    convert["M/S"]["FT/S"] = 3.2808399;
-  convert["FT*LBS"]["N*M"] = 1.35581795;
+    convert["FT/S"]["M/S"] = 1.0/convert["M/S"]["FT/S"];
-  convert["N*M"]["FT*LBS"] = 1/convert["FT*LBS"]["N*M"];
+    // Torque
-  // Valve
+    convert["FT*LBS"]["N*M"] = 1.35581795;
-  convert["M4*SEC/KG"]["FT4*SEC/SLUG"] = convert["M"]["FT"]*convert["M"]["FT"]*
+    convert["N*M"]["FT*LBS"] = 1/convert["FT*LBS"]["N*M"];
-    convert["M"]["FT"]*convert["M"]["FT"]/convert["KG"]["SLUG"];
+    // Valve
-  convert["FT4*SEC/SLUG"]["M4*SEC/KG"] =
+    convert["M4*SEC/KG"]["FT4*SEC/SLUG"] = convert["M"]["FT"]*convert["M"]["FT"]*
-    1.0/convert["M4*SEC/KG"]["FT4*SEC/SLUG"];
+      convert["M"]["FT"]*convert["M"]["FT"]/convert["KG"]["SLUG"];
-  // Pressure
+    convert["FT4*SEC/SLUG"]["M4*SEC/KG"] =
-  convert["INHG"]["PSF"] = 70.7180803;
+      1.0/convert["M4*SEC/KG"]["FT4*SEC/SLUG"];
-  convert["PSF"]["INHG"] = 1.0/convert["INHG"]["PSF"];
+    // Pressure
-  convert["ATM"]["INHG"] = 29.9246899;
+    convert["INHG"]["PSF"] = 70.7180803;
-  convert["INHG"]["ATM"] = 1.0/convert["ATM"]["INHG"];
+    convert["PSF"]["INHG"] = 1.0/convert["INHG"]["PSF"];
-  convert["PSI"]["INHG"] = 2.03625437;
+    convert["ATM"]["INHG"] = 29.9246899;
-  convert["INHG"]["PSI"] = 1.0/convert["PSI"]["INHG"];
+    convert["INHG"]["ATM"] = 1.0/convert["ATM"]["INHG"];
-  convert["INHG"]["PA"] = 3386.0; // inches Mercury to pascals
+    convert["PSI"]["INHG"] = 2.03625437;
-  convert["PA"]["INHG"] = 1.0/convert["INHG"]["PA"];
+    convert["INHG"]["PSI"] = 1.0/convert["PSI"]["INHG"];
-  convert["LBS/FT2"]["N/M2"] = 14.5939/convert["FT"]["M"];
+    convert["INHG"]["PA"] = 3386.0; // inches Mercury to pascals
-  convert["N/M2"]["LBS/FT2"] = 1.0/convert["LBS/FT2"]["N/M2"];
+    convert["PA"]["INHG"] = 1.0/convert["INHG"]["PA"];
-  convert["LBS/FT2"]["PA"] = convert["LBS/FT2"]["N/M2"];
+    convert["LBS/FT2"]["N/M2"] = 14.5939/convert["FT"]["M"];
-  convert["PA"]["LBS/FT2"] = 1.0/convert["LBS/FT2"]["PA"];
+    convert["N/M2"]["LBS/FT2"] = 1.0/convert["LBS/FT2"]["N/M2"];
-  // Mass flow
+    convert["LBS/FT2"]["PA"] = convert["LBS/FT2"]["N/M2"];
-  convert["KG/MIN"]["LBS/MIN"] = convert["KG"]["LBS"];
+    convert["PA"]["LBS/FT2"] = 1.0/convert["LBS/FT2"]["PA"];
-  // Fuel Consumption
+    // Mass flow
-  convert["LBS/HP*HR"]["KG/KW*HR"] = 0.6083;
+    convert["KG/MIN"]["LBS/MIN"] = convert["KG"]["LBS"];
-  convert["KG/KW*HR"]["LBS/HP*HR"] = 1.0/convert["LBS/HP*HR"]["KG/KW*HR"];
+    // Fuel Consumption
+    convert["LBS/HP*HR"]["KG/KW*HR"] = 0.6083;
+    convert["KG/KW*HR"]["LBS/HP*HR"] = 1.0/convert["LBS/HP*HR"]["KG/KW*HR"];
+    // Density
+    convert["KG/L"]["LBS/GAL"] = 8.3454045;
+    convert["LBS/GAL"]["KG/L"] = 1.0/convert["KG/L"]["LBS/GAL"];
 
-  // Length
+    // Length
-  convert["M"]["M"] = 1.00;
+    convert["M"]["M"] = 1.00;
-  convert["FT"]["FT"] = 1.00;
+    convert["FT"]["FT"] = 1.00;
-  convert["IN"]["IN"] = 1.00;
+    convert["IN"]["IN"] = 1.00;
-  // Area
+    // Area
-  convert["M2"]["M2"] = 1.00;
+    convert["M2"]["M2"] = 1.00;
-  convert["FT2"]["FT2"] = 1.00;
+    convert["FT2"]["FT2"] = 1.00;
-  // Volume
+    // Volume
-  convert["IN3"]["IN3"] = 1.00;
+    convert["IN3"]["IN3"] = 1.00;
-  convert["CC"]["CC"] = 1.0;
+    convert["CC"]["CC"] = 1.0;
-  convert["M3"]["M3"] = 1.0;
+    convert["M3"]["M3"] = 1.0;
-  convert["FT3"]["FT3"] = 1.0;
+    convert["FT3"]["FT3"] = 1.0;
-  convert["LTR"]["LTR"] = 1.0;
+    convert["LTR"]["LTR"] = 1.0;
-  // Mass & Weight
+    // Mass & Weight
-  convert["KG"]["KG"] = 1.00;
+    convert["KG"]["KG"] = 1.00;
-  convert["LBS"]["LBS"] = 1.00;
+    convert["LBS"]["LBS"] = 1.00;
-  // Moments of Inertia
+    // Moments of Inertia
-  convert["KG*M2"]["KG*M2"] = 1.00;
+    convert["KG*M2"]["KG*M2"] = 1.00;
-  convert["SLUG*FT2"]["SLUG*FT2"] = 1.00;
+    convert["SLUG*FT2"]["SLUG*FT2"] = 1.00;
-  // Angles
+    // Angles
-  convert["DEG"]["DEG"] = 1.00;
+    convert["DEG"]["DEG"] = 1.00;
-  convert["RAD"]["RAD"] = 1.00;
+    convert["RAD"]["RAD"] = 1.00;
-  // Spring force
+    // Spring force
-  convert["LBS/FT"]["LBS/FT"] = 1.00;
+    convert["LBS/FT"]["LBS/FT"] = 1.00;
-  convert["N/M"]["N/M"] = 1.00;
+    convert["N/M"]["N/M"] = 1.00;
-  // Damping force
+    // Damping force
-  convert["LBS/FT/SEC"]["LBS/FT/SEC"] = 1.00;
+    convert["LBS/FT/SEC"]["LBS/FT/SEC"] = 1.00;
-  convert["N/M/SEC"]["N/M/SEC"] = 1.00;
+    convert["N/M/SEC"]["N/M/SEC"] = 1.00;
-  // Damping force (Square law)
+    // Damping force (Square law)
-  convert["LBS/FT2/SEC2"]["LBS/FT2/SEC2"] = 1.00;
+    convert["LBS/FT2/SEC2"]["LBS/FT2/SEC2"] = 1.00;
-  convert["N/M2/SEC2"]["N/M2/SEC2"] = 1.00;
+    convert["N/M2/SEC2"]["N/M2/SEC2"] = 1.00;
-  // Power
+    // Power
-  convert["HP"]["HP"] = 1.00;
+    convert["HP"]["HP"] = 1.00;
-  convert["WATTS"]["WATTS"] = 1.00;
+    convert["WATTS"]["WATTS"] = 1.00;
-  // Force
+    // Force
-  convert["N"]["N"] = 1.00;
+    convert["N"]["N"] = 1.00;
-  // Velocity
+    // Velocity
-  convert["FT/SEC"]["FT/SEC"] = 1.00;
+    convert["FT/SEC"]["FT/SEC"] = 1.00;
-  convert["KTS"]["KTS"] = 1.00;
+    convert["KTS"]["KTS"] = 1.00;
-  convert["M/S"]["M/S"] = 1.0;
+    convert["M/S"]["M/S"] = 1.0;
-  // Torque
+    // Torque
-  convert["FT*LBS"]["FT*LBS"] = 1.00;
+    convert["FT*LBS"]["FT*LBS"] = 1.00;
-  convert["N*M"]["N*M"] = 1.00;
+    convert["N*M"]["N*M"] = 1.00;
-  // Valve
+    // Valve
-  convert["M4*SEC/KG"]["M4*SEC/KG"] = 1.0;
+    convert["M4*SEC/KG"]["M4*SEC/KG"] = 1.0;
-  convert["FT4*SEC/SLUG"]["FT4*SEC/SLUG"] = 1.0;
+    convert["FT4*SEC/SLUG"]["FT4*SEC/SLUG"] = 1.0;
-  // Pressure
+    // Pressure
-  convert["PSI"]["PSI"] = 1.00;
+    convert["PSI"]["PSI"] = 1.00;
-  convert["PSF"]["PSF"] = 1.00;
+    convert["PSF"]["PSF"] = 1.00;
-  convert["INHG"]["INHG"] = 1.00;
+    convert["INHG"]["INHG"] = 1.00;
-  convert["ATM"]["ATM"] = 1.0;
+    convert["ATM"]["ATM"] = 1.0;
-  convert["PA"]["PA"] = 1.0;
+    convert["PA"]["PA"] = 1.0;
-  convert["N/M2"]["N/M2"] = 1.00;
+    convert["N/M2"]["N/M2"] = 1.00;
-  convert["LBS/FT2"]["LBS/FT2"] = 1.00;
+    convert["LBS/FT2"]["LBS/FT2"] = 1.00;
-  // Mass flow
+    // Mass flow
-  convert["LBS/SEC"]["LBS/SEC"] = 1.00;
+    convert["LBS/SEC"]["LBS/SEC"] = 1.00;
-  convert["KG/MIN"]["KG/MIN"] = 1.0;
+    convert["KG/MIN"]["KG/MIN"] = 1.0;
-  convert["LBS/MIN"]["LBS/MIN"] = 1.0;
+    convert["LBS/MIN"]["LBS/MIN"] = 1.0;
-  // Fuel Consumption
+    // Fuel Consumption
-  convert["LBS/HP*HR"]["LBS/HP*HR"] = 1.0;
+    convert["LBS/HP*HR"]["LBS/HP*HR"] = 1.0;
-  convert["KG/KW*HR"]["KG/KW*HR"] = 1.0;
+    convert["KG/KW*HR"]["KG/KW*HR"] = 1.0;
+    // Density
+    convert["KG/L"]["KG/L"] = 1.0;
+    convert["LBS/GAL"]["LBS/GAL"] = 1.0;
+  }
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -209,7 +224,7 @@ Element::~Element(void)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-string Element::GetAttributeValue(string attr)
+string Element::GetAttributeValue(const string& attr)
 {
   int select=-1;
   for (unsigned int i=0; i<attribute_key.size(); i++) {
@@ -221,7 +236,7 @@ string Element::GetAttributeValue(string attr)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-double Element::GetAttributeValueAsNumber(string attr)
+double Element::GetAttributeValueAsNumber(const string& attr)
 {
   string attribute = GetAttributeValue(attr);
 
@@ -280,7 +295,7 @@ double Element::GetDataAsNumber(void)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-unsigned int Element::GetNumElements(string element_name)
+unsigned int Element::GetNumElements(const string& element_name)
 {
   unsigned int number_of_elements=0;
   Element* el=FindElement(element_name);
@@ -293,7 +308,7 @@ unsigned int Element::GetNumElements(string element_name)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-Element* Element::FindElement(string el)
+Element* Element::FindElement(const string& el)
 {
   if (el.empty() && children.size() >= 1) {
     element_index = 1;
@@ -311,7 +326,7 @@ Element* Element::FindElement(string el)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-Element* Element::FindNextElement(string el)
+Element* Element::FindNextElement(const string& el)
 {
   if (el.empty()) {
     if (element_index < children.size()) {
@@ -333,7 +348,7 @@ Element* Element::FindNextElement(string el)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-double Element::FindElementValueAsNumber(string el)
+double Element::FindElementValueAsNumber(const string& el)
 {
   Element* element = FindElement(el);
   if (element) {
@@ -346,7 +361,7 @@ double Element::FindElementValueAsNumber(string el)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-string Element::FindElementValue(string el)
+string Element::FindElementValue(const string& el)
 {
   Element* element = FindElement(el);
   if (element) {
@@ -358,7 +373,7 @@ string Element::FindElementValue(string el)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-double Element::FindElementValueAsNumberConvertTo(string el, string target_units)
+double Element::FindElementValueAsNumberConvertTo(const string& el, const string& target_units)
 {
   Element* element = FindElement(el);
 
@@ -392,9 +407,9 @@ double Element::FindElementValueAsNumberConvertTo(string el, string target_units
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-double Element::FindElementValueAsNumberConvertFromTo( string el,
+double Element::FindElementValueAsNumberConvertFromTo( const string& el,
-                                                       string supplied_units,
+                                                       const string& supplied_units,
-                                                       string target_units)
+                                                       const string& target_units)
 {
   Element* element = FindElement(el);
 
@@ -426,7 +441,7 @@ double Element::FindElementValueAsNumberConvertFromTo( string el,
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-FGColumnVector3 Element::FindElementTripletConvertTo( string target_units)
+FGColumnVector3 Element::FindElementTripletConvertTo( const string& target_units)
 {
   FGColumnVector3 triplet;
   Element* item;
@@ -506,7 +521,7 @@ void Element::Print(unsigned int level)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-void Element::AddAttribute(string name, string value)
+void Element::AddAttribute(const string& name, const string& value)
 {
   attribute_key.push_back(name);
   attributes[name] = value;
@@ -516,8 +531,8 @@ void Element::AddAttribute(string name, string value)
 
 void Element::AddData(string d)
 {
-  unsigned int string_start = (unsigned int)d.find_first_not_of(" \t");
+  string::size_type string_start = d.find_first_not_of(" \t");
-  if (string_start > 0) {
+  if (string_start != string::npos && string_start > 0) {
     d.erase(0,string_start);
   }
   data_lines.push_back(d);

src/FDM/JSBSim/input_output/FGXMLElement.h

@@ -36,16 +36,9 @@ INCLUDES
 
 #include <string>
 #include <map>
-#include <iostream>
 #include <vector>
 
-using std::string;
+#include "math/FGColumnVector3.h"
-using std::map;
-using std::vector;
-using std::cout;
-using std::endl;
-
-#include <math/FGColumnVector3.h>
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 DEFINITIONS
@@ -92,6 +85,7 @@ CLASS DOCUMENTATION
     - convert["KG/MIN"]["LBS/MIN"] = convert["KG"]["LBS"];
     - convert["LBS/HP*HR"]["KG/KW*HR"] = 0.6083;
     - convert["KG/KW*HR"]["LBS/HP*HR"] = 1/convert["LBS/HP*HR"]["KG/KW*HR"];
+    - convert["KG/L"]["LBS/GAL"] = 8.3454045;
 
     - convert["M"]["M"] = 1.00;
     - convert["FT"]["FT"] = 1.00;
@@ -119,6 +113,8 @@ CLASS DOCUMENTATION
     - convert["LBS/MIN"]["LBS/MIN"] = 1.0;
     - convert["LBS/HP*HR"]["LBS/HP*HR"] = 1.0;
     - convert["KG/KW*HR"]["KG/KW*HR"] = 1.0;
+    - convert["KG/L"]["KG/L"] = 1.0;
+    - convert["LBS/GAL"]["LBS/GAL"] = 1.0;
 
     Where:
     - N = newtons
@@ -136,6 +132,8 @@ CLASS DOCUMENTATION
     - WATTS = watts
     - HP = horsepower
     - HR = hour
+    - L = liter
+    - GAL = gallon (U.S. liquid) 
 
     @author Jon S. Berndt
     @version $Id$
@@ -150,7 +148,7 @@ public:
   /** Constructor
       @param nm the name of this element (if given)
       */
-  Element(string nm);
+  Element(const std::string& nm);
   /// Destructor
   ~Element(void);
 
@@ -158,23 +156,23 @@ public:
       @param key specifies the attribute key to retrieve the value of.
       @return the key value (as a string), or the empty string if no such
               attribute exists. */
-  string GetAttributeValue(string key);
+  std::string GetAttributeValue(const std::string& key);
 
   /** Retrieves an attribute value as a double precision real number.
       @param key specifies the attribute key to retrieve the value of.
       @return the key value (as a number), or the HUGE_VAL if no such
               attribute exists. */
-  double GetAttributeValueAsNumber(string key);
+  double GetAttributeValueAsNumber(const std::string& key);
 
   /** Retrieves the element name.
       @return the element name, or the empty string if no name has been set.*/
-  string GetName(void) {return name;}
+  const std::string& GetName(void) const {return name;}
 
   /** Gets a line of data belonging to an element.
       @param i the index of the data line to return (0 by default).
       @return a string representing the data line requested, or the empty string
               if none exists.*/
-  string GetDataLine(unsigned int i=0);
+  std::string GetDataLine(unsigned int i=0);
 
   /// Returns the number of lines of data stored
   unsigned int GetNumDataLines(void) {return (unsigned int)data_lines.size();}
@@ -183,7 +181,7 @@ public:
   unsigned int GetNumElements(void) {return (unsigned int)children.size();}
 
   /// Returns the number of named child elements for this element.
-  unsigned int GetNumElements(string);
+  unsigned int GetNumElements(const std::string& element_name);
 
   /** Converts the element data to a number.
       This function attempts to convert the first (and presumably only) line of
@@ -221,7 +219,7 @@ public:
       element counter to the first element.
       @param el the search string (empty string by default).
       @return a pointer to the first element that matches the supplied search string. */
-  Element* FindElement(string el="");
+  Element* FindElement(const std::string& el="");
 
   /** Searches for the next element as specified.
       This function would be called after FindElement() is first called (in order to
@@ -232,7 +230,7 @@ public:
       @param el the name of the next element to find.
       @return the pointer to the found element, or 0 if no appropriate element us
               found.*/
-  Element* FindNextElement(string el="");
+  Element* FindNextElement(const std::string& el="");
 
   /** Searches for the named element and returns the string data belonging to it.
       This function allows the data belonging to a named element to be returned
@@ -242,7 +240,7 @@ public:
       default)
       @return the data value for the named element as a string, or the empty
               string if the element cannot be found. */
-  string FindElementValue(string el="");
+  std::string FindElementValue(const std::string& el="");
 
   /** Searches for the named element and returns the data belonging to it as a number.
       This function allows the data belonging to a named element to be returned
@@ -252,7 +250,7 @@ public:
       default)
       @return the data value for the named element as a double, or HUGE_VAL if the
               data is missing. */
-  double FindElementValueAsNumber(string el="");
+  double FindElementValueAsNumber(const std::string& el="");
 
   /** Searches for the named element and converts and returns the data belonging to it.
       This function allows the data belonging to a named element to be returned
@@ -269,7 +267,7 @@ public:
              to which the value returned will be converted.
       @return the unit-converted data value for the named element as a double,
               or HUGE_VAL if the data is missing. */
-  double FindElementValueAsNumberConvertTo(string el, string target_units);
+  double FindElementValueAsNumberConvertTo(const std::string& el, const std::string& target_units);
 
   /** Searches for the named element and converts and returns the data belonging to it.
       This function allows the data belonging to a named element to be returned
@@ -288,9 +286,9 @@ public:
              to which the value returned will be converted.
       @return the unit-converted data value for the named element as a double,
               or HUGE_VAL if the data is missing. */
-  double FindElementValueAsNumberConvertFromTo( string el,
+  double FindElementValueAsNumberConvertFromTo( const std::string& el,
-                                                string supplied_units,
+                                                const std::string& supplied_units,
-                                                string target_units);
+                                                const std::string& target_units);
 
   /** Composes a 3-element column vector for the supplied location or orientation.
       This function processes a LOCATION or ORIENTATION construct, returning a
@@ -301,7 +299,7 @@ public:
       @param target_units the string representing the native units used by JSBSim
              to which the value returned will be converted.
       @return a column vector object built from the LOCATION or ORIENT components. */
-  FGColumnVector3 FindElementTripletConvertTo( string target_units);
+  FGColumnVector3 FindElementTripletConvertTo( const std::string& target_units);
 
   /** This function sets the value of the parent class attribute to the supplied
       Element pointer.
@@ -315,11 +313,11 @@ public:
   /** Stores an attribute belonging to this element.
   *   @param name The string name of the attribute.
   *   @param value The string value of the attribute. */
-  void AddAttribute(string name, string value);
+  void AddAttribute(const std::string& name, const std::string& value);
 
   /** Stores data belonging to this element.
   *   @param d the data to store. */
-  void AddData(string d);
+  void AddData(std::string d);
 
   /** Prints the element.
   *   Prints this element and calls the Print routine for child elements.
@@ -327,15 +325,16 @@ public:
   void Print(unsigned int level=0);
 
 private:
-  string name;
+  std::string name;
-  map <string, string> attributes;
+  std::map <std::string, std::string> attributes;
-  vector <string> data_lines;
+  std::vector <std::string> data_lines;
-  vector <Element*> children;
+  std::vector <Element*> children;
-  vector <string> attribute_key;
+  std::vector <std::string> attribute_key;
   Element *parent;
   unsigned int element_index;
-  typedef map <string, map <string, double> > tMapConvert;
+  typedef std::map <std::string, std::map <std::string, double> > tMapConvert;
-  tMapConvert convert;
+  static tMapConvert convert;
+  static bool converterIsInitialized;
 };
 
 } // namespace JSBSim

src/FDM/JSBSim/input_output/FGXMLFileRead.h

@@ -35,7 +35,9 @@ SENTRY
 INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#include <input_output/FGXMLParse.h>
+#include "input_output/FGXMLParse.h"
+#include <iostream>
+#include <fstream>
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 DEFINITIONS
@@ -56,19 +58,19 @@ public:
 
 protected:
   Element* document;
-  Element* LoadXMLDocument(string XML_filename)
+  Element* LoadXMLDocument(std::string XML_filename)
   {
-    ifstream infile;
+    std::ifstream infile;
 
     if ( !XML_filename.empty() ) {
-      if (XML_filename.find(".xml") == string::npos) XML_filename += ".xml";
+      if (XML_filename.find(".xml") == std::string::npos) XML_filename += ".xml";
       infile.open(XML_filename.c_str());
       if ( !infile.is_open()) {
-        cerr << "Could not open file: " << XML_filename << endl;
+        std::cerr << "Could not open file: " << XML_filename << std::endl;
         return 0L;
       }
     } else {
-      cerr << "No filename given." << endl;
+      std::cerr << "No filename given." << std::endl;
       return 0L;
     }
 

src/FDM/JSBSim/input_output/FGXMLParse.cpp

@@ -30,9 +30,14 @@ INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #include "FGXMLParse.h"
+#include "FGXMLElement.h"
+#include <string>
+#include <iostream>
 #include <cstdlib>
 #include "input_output/string_utilities.h"
 
+using namespace std;
+
 namespace JSBSim {
 
 static const char *IdSrc = "$Id$";

src/FDM/JSBSim/input_output/FGXMLParse.h

@@ -34,15 +34,6 @@ SENTRY
 INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#include <string>
-#include <iostream>
-
-using std::string;
-using std::cout;
-using std::cerr;
-using std::endl;
-
-#include "FGXMLElement.h"
 #include "simgear/xml/easyxml.hxx"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -58,6 +49,8 @@ FORWARD DECLARATIONS
 
 namespace JSBSim {
 
+class Element;
+
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 CLASS DOCUMENTATION
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/

src/FDM/JSBSim/input_output/FGfdmSocket.cpp

@@ -38,8 +38,17 @@ HISTORY
 INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#include "FGfdmSocket.h"
+#include <iostream>
+#include <iomanip>
 #include <cstring>
+#include <cstdio>
+#include "FGfdmSocket.h"
+#include "string_utilities.h"
+
+using std::cout;
+using std::cerr;
+using std::endl;
+using std::string;
 
 namespace JSBSim {
 
@@ -50,9 +59,9 @@ static const char *IdHdr = ID_FDMSOCKET;
 CLASS IMPLEMENTATION
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-FGfdmSocket::FGfdmSocket(string address, int port, int protocol)
+FGfdmSocket::FGfdmSocket(const string& address, int port, int protocol)
 {
-  sckt = sckt_in = size = 0;
+  sckt = sckt_in = 0;
   connected = false;
 
   #if defined(_MSC_VER) || defined(__MINGW32__)
@@ -104,9 +113,9 @@ FGfdmSocket::FGfdmSocket(string address, int port, int protocol)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-FGfdmSocket::FGfdmSocket(string address, int port)
+FGfdmSocket::FGfdmSocket(const string& address, int port)
 {
-  sckt = sckt_in = size = 0;
+  sckt = sckt_in = 0;
   connected = false;
 
   #if defined(_MSC_VER) || defined(__MINGW32__)
@@ -158,7 +167,6 @@ FGfdmSocket::FGfdmSocket(string address, int port)
 
 FGfdmSocket::FGfdmSocket(int port)
 {
-  size = 0;
   connected = false;
   unsigned long NoBlock = true;
 
@@ -217,9 +225,8 @@ string FGfdmSocket::Receive(void)
   char buf[1024];
   int len = sizeof(struct sockaddr_in);
   int num_chars=0;
-  int total_chars = 0;
   unsigned long NoBlock = true;
-  string data = ""; // todo: should allocate this with a standard size as a
+  string data;      // todo: should allocate this with a standard size as a
                     // class attribute and pass as a reference?
 
   if (sckt_in <= 0) {
@@ -239,9 +246,8 @@ string FGfdmSocket::Receive(void)
   }
 
   if (sckt_in > 0) {
-    while ((num_chars = recv(sckt_in, buf, 1024, 0)) > 0) {
+    while ((num_chars = recv(sckt_in, buf, sizeof buf, 0)) > 0) {
-      data += string(buf).substr(0,num_chars);
+      data.append(buf, num_chars);
-      total_chars += num_chars;
     }
 
 #if defined(_MSC_VER)
@@ -258,12 +264,12 @@ string FGfdmSocket::Receive(void)
 #endif
   }
 
-  return data.substr(0, total_chars);
+  return data;
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-int FGfdmSocket::Reply(string text)
+int FGfdmSocket::Reply(const string& text)
 {
   int num_chars_sent=0;
 
@@ -288,71 +294,58 @@ void FGfdmSocket::Close(void)
 
 void FGfdmSocket::Clear(void)
 {
-  buffer = "";
+  buffer.str(string());
-  size = 0;
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-void FGfdmSocket::Clear(string s)
+void FGfdmSocket::Clear(const string& s)
 {
-  buffer = s + " ";
+  Clear();
-  size = buffer.size();
+  buffer << s << ' ';
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
 void FGfdmSocket::Append(const char* item)
 {
-  if (size == 0) buffer += string(item);
+  if (buffer.tellp() > 0) buffer << ',';
-  else buffer += string(",") + string(item);
+  buffer << item;
-  size++;
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
 void FGfdmSocket::Append(double item)
 {
-  char s[25];
+  if (buffer.tellp() > 0) buffer << ',';
-
+  buffer << std::setw(12) << std::setprecision(7) << item;
-  sprintf(s,"%12.7f",item);
-
-  if (size == 0) buffer += string(s);
-  else buffer += string(",") + string(s);
-  size++;
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
 void FGfdmSocket::Append(long item)
 {
-  char s[25];
+  if (buffer.tellp() > 0) buffer << ',';
-
+  buffer << std::setw(12) << item;
-  sprintf(s,"%12ld",item);
-
-  if (size == 0) buffer += string(s);
-  else buffer += string(",") + string(s);
-  size++;
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
 void FGfdmSocket::Send(void)
 {
-  buffer += string("\n");
+  buffer << '\n';
-  if ((send(sckt,buffer.c_str(),buffer.size(),0)) <= 0) {
+  string str = buffer.str();
+  if ((send(sckt,str.c_str(),str.size(),0)) <= 0) {
     perror("send");
-  } else {
   }
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-void FGfdmSocket::Send(char *data, int length)
+void FGfdmSocket::Send(const char *data, int length)
 {
   if ((send(sckt,data,length,0)) <= 0) {
     perror("send");
-  } else {
   }
 }
 

src/FDM/JSBSim/input_output/FGfdmSocket.h

@@ -39,16 +39,11 @@ SENTRY
 INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#include <cstdio>
 #include <string>
-#include <iostream>
+#include <sstream>
-#include <fstream>
 #include <sys/types.h>
 #include "FGJSBBase.h"
 
-using std::cout;
-using std::endl;
-
 #if defined(_MSC_VER) || defined(__MINGW32__)
   #include <winsock.h>
   #include <io.h>
@@ -90,27 +85,24 @@ CLASS DOCUMENTATION
 CLASS DECLARATION
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-using std::string;
-using std::cerr;
-
 class FGfdmSocket : public FGJSBBase
 {
 public:
-  FGfdmSocket(string, int);
+  FGfdmSocket(const std::string&, int);
-  FGfdmSocket(string, int, int);
+  FGfdmSocket(const std::string&, int, int);
   FGfdmSocket(int);
   ~FGfdmSocket();
   void Send(void);
-  void Send(char *data, int length);
+  void Send(const char *data, int length);
 
-  string Receive(void);
+  std::string Receive(void);
-  int Reply(string text);
+  int Reply(const std::string& text);
-  void Append(const string s) {Append(s.c_str());}
+  void Append(const std::string& s) {Append(s.c_str());}
   void Append(const char*);
   void Append(double);
   void Append(long);
   void Clear(void);
-  void Clear(string s);
+  void Clear(const std::string& s);
   void Close(void);
   bool GetConnectStatus(void) {return connected;}
 
@@ -119,10 +111,9 @@ public:
 private:
   int sckt;
   int sckt_in;
-  int size;
   struct sockaddr_in scktName;
   struct hostent *host;
-  string buffer;
+  std::ostringstream buffer;
   bool connected;
   void Debug(int from);
 };

src/FDM/JSBSim/input_output/net_fdm.hxx

@@ -15,12 +15,7 @@
 
 #include <time.h> // time_t
 
-#ifdef _MSC_VER
+#include <simgear/misc/stdint.hxx> //not required for JSBSim
-typedef unsigned long uint32_t;
-typedef long int32_t;
-#endif
-
-//--->>>#include <simgear/misc/stdint.hxx> //not required for JSBSim
 
 
 // NOTE: this file defines an external interface structure.  Due to

src/FDM/JSBSim/input_output/string_utilities.h

@@ -4,7 +4,7 @@
  Author:       Jon S. Berndt
  Date started: 06/01/09
 
- ------------- Copyright (C) 2009  Jon S. Berndt (jsb@hal-pc.org) -------------
+ ------------- Copyright (C) 2009  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
@@ -38,8 +38,8 @@ SENTRY
 INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
+#include <string>
 #include <vector>
-#include <ctype.h>
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 DEFINITIONS
@@ -51,8 +51,6 @@ DEFINITIONS
 FORWARD DECLARATIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-using namespace std;
-
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 CLASS DOCUMENTATION
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
@@ -63,29 +61,30 @@ CLASS DECLARATION
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #if !defined(BASE)
-  extern string& trim_left(string& str);
+  extern std::string& trim_left(std::string& str);
-  extern string& trim_right(string& str);
+  extern std::string& trim_right(std::string& str);
-  extern string& trim(string& str);
+  extern std::string& trim(std::string& str);
-  extern string& to_upper(string& str);
+  extern std::string& to_upper(std::string& str);
-  extern string& to_lower(string& str);
+  extern std::string& to_lower(std::string& str);
-  extern bool is_number(string& str);
+  extern bool is_number(const std::string& str);
-  vector <string> split(string str, char d);
+  std::vector <std::string> split(std::string str, char d);
 #else
+  #include <ctype.h>
+
+  using namespace std;
 
   string& trim_left(string& str)
   {
-    while ( !isgraph(str[0]) ) {
+    while (str.size() && !isgraph(str[0])) {
       str = str.erase(0,1);
-      if (str.size() == 0) break;
     }
     return str;
   }
 
   string& trim_right(string& str)
   {
-    while (!isgraph(str[str.size()-1])) {
+    while (str.size() && !isgraph(str[str.size()-1])) {
       str = str.erase(str.size()-1,1);
-      if (str.size() == 0) break;
     }
     return str;
   }
@@ -99,17 +98,17 @@ CLASS DECLARATION
 
   string& to_upper(string& str)
   {
-    for (int i=0; i<str.size(); i++) str[i] = toupper(str[i]);
+    for (size_t i=0; i<str.size(); i++) str[i] = toupper(str[i]);
     return str;
   }
 
   string& to_lower(string& str)
   {
-    for (int i=0; i<str.size(); i++) str[i] = tolower(str[i]);
+    for (size_t i=0; i<str.size(); i++) str[i] = tolower(str[i]);
     return str;
   }
 
-  bool is_number(string& str)
+  bool is_number(const string& str)
   {
     return (str.find_first_not_of("+-.0123456789Ee") == string::npos);
   }
@@ -117,7 +116,7 @@ CLASS DECLARATION
   vector <string> split(string str, char d)
   {
     vector <string> str_array;
-    int index=0;
+    size_t index=0;
     string temp = "";
 
     trim(str);
@@ -142,3 +141,4 @@ CLASS DECLARATION
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
 #endif
+

src/FDM/JSBSim/math/FGColumnVector3.cpp

@@ -38,7 +38,12 @@ INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #include "FGColumnVector3.h"
-#include <cstdio>
+#include <iostream>
+#include <sstream>
+#include <iomanip>
+#include <cmath>
+
+using namespace std;
 
 namespace JSBSim {
 
@@ -57,11 +62,13 @@ FGColumnVector3::FGColumnVector3(void)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-string FGColumnVector3::Dump(string delimeter) const
+string FGColumnVector3::Dump(const string& delimiter) const
 {
-  char buffer[256];
+  ostringstream buffer;
-  sprintf(buffer, "%18.16f%s%18.16f%s%18.16f", Entry(1), delimeter.c_str(), Entry(2), delimeter.c_str(), Entry(3));
+  buffer << std::setw(18) << std::setprecision(16) << Entry(1) << delimiter;
-  return string(buffer);
+  buffer << std::setw(18) << std::setprecision(16) << Entry(2) << delimiter;
+  buffer << std::setw(18) << std::setprecision(16) << Entry(3);
+  return buffer.str();
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

src/FDM/JSBSim/math/FGColumnVector3.h

@@ -39,20 +39,8 @@ SENTRY
 INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#include <cstdlib>
+#include <iosfwd>
 #include <string>
-#include <fstream>
-#include <iostream>
-#include <cmath>
-
-using std::ostream;
-using std::istream;
-using std::cerr;
-using std::cout;
-using std::endl;
-using std::sqrt;
-using std::string;
-
 #include "FGJSBBase.h"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -149,7 +137,7 @@ public:
   /** Prints the contents of the vector
       @param delimeter the item separator (tab or comma)
       @return a string with the delimeter-separated contents of the vector  */
-  string Dump(string delimeter) const;
+  std::string Dump(const std::string& delimeter) const;
 
   /** Assignment operator.
       @param b source vector.
@@ -291,7 +279,7 @@ inline FGColumnVector3 operator*(double scalar, const FGColumnVector3& A) {
     @param os Stream to write to.
     @param M Matrix to write.
     Write the matrix to a stream.*/
-ostream& operator<<(ostream& os, const FGColumnVector3& col);
+std::ostream& operator<<(std::ostream& os, const FGColumnVector3& col);
 
 } // namespace JSBSim
 

src/FDM/JSBSim/math/FGCondition.cpp

@@ -35,7 +35,12 @@ INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #include "FGCondition.h"
-#include <vector>
+#include "input_output/FGXMLElement.h"
+#include "input_output/FGPropertyManager.h"
+#include <iostream>
+#include <cstdlib>
+
+using namespace std;
 
 namespace JSBSim {
 
@@ -91,7 +96,7 @@ FGCondition::FGCondition(Element* element, FGPropertyManager* PropertyManager) :
 // This constructor is called when there are no nested test groups inside the
 // condition
 
-FGCondition::FGCondition(string test, FGPropertyManager* PropertyManager) :
+FGCondition::FGCondition(const string& test, FGPropertyManager* PropertyManager) :
   PropertyManager(PropertyManager), isGroup(false)
 {
   string property1, property2, compare_string;

src/FDM/JSBSim/math/FGCondition.h

@@ -38,9 +38,7 @@ INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #include <map>
-#include <FGJSBBase.h>
+#include "FGJSBBase.h"
-#include <input_output/FGXMLElement.h>
-#include <input_output/FGPropertyManager.h>
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 DEFINITIONS
@@ -54,6 +52,9 @@ FORWARD DECLARATIONS
 
 namespace JSBSim {
 
+class FGPropertyManager;
+class Element;
+
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 CLASS DOCUMENTATION
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
@@ -69,7 +70,7 @@ class FGCondition : public FGJSBBase
 {
 public:
   FGCondition(Element* element, FGPropertyManager* PropertyManager);
-  FGCondition(string test, FGPropertyManager* PropertyManager);
+  FGCondition(const std::string& test, FGPropertyManager* PropertyManager);
   ~FGCondition(void);
 
   bool Evaluate(void);
@@ -78,18 +79,18 @@ public:
 private:
   enum eComparison {ecUndef=0, eEQ, eNE, eGT, eGE, eLT, eLE};
   enum eLogic {elUndef=0, eAND, eOR};
-  map <string, eComparison> mComparison;
+  std::map <std::string, eComparison> mComparison;
   eLogic Logic;
 
   FGPropertyManager *TestParam1, *TestParam2, *PropertyManager;
   double TestValue;
   eComparison Comparison;
   bool isGroup;
-  string conditional;
+  std::string conditional;
 
-  static string indent;
+  static std::string indent;
 
-  vector <FGCondition*> conditions;
+  std::vector <FGCondition*> conditions;
   void InitializeConditionals(void);
 
   void Debug(int from);

src/FDM/JSBSim/math/FGFunction.cpp

@@ -28,12 +28,17 @@ Purpose: Stores various parameter types for functions
 INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#include <stdio.h>
+#include <sstream>
-
+#include <iomanip>
+#include <cstdlib>
 #include "FGFunction.h"
 #include "FGTable.h"
 #include "FGPropertyValue.h"
 #include "FGRealValue.h"
+#include "input_output/FGXMLElement.h"
+#include "input_output/FGPropertyManager.h"
+
+using namespace std;
 
 namespace JSBSim {
 
@@ -44,12 +49,11 @@ static const char *IdHdr = ID_FUNCTION;
 CLASS IMPLEMENTATION
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-FGFunction::FGFunction(FGPropertyManager* propMan, Element* el, string prefix)
+FGFunction::FGFunction(FGPropertyManager* propMan, Element* el, const string& prefix)
                                       : PropertyManager(propMan), Prefix(prefix)
 {
   Element* element;
   string operation, property_name;
-  int size = el->GetNumElements();
   cached = false;
   cachedValue = -HUGE_VAL;
 
@@ -320,12 +324,10 @@ double FGFunction::GetValue(void) const
 
 string FGFunction::GetValueAsString(void) const
 {
-  char buffer[20];
+  ostringstream buffer;
-  string value;
 
-  sprintf(buffer,"%9.6f",GetValue());
+  buffer << setw(9) << setprecision(6) << GetValue();
-  value = string(buffer);
+  return buffer.str();
-  return value;
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

src/FDM/JSBSim/math/FGFunction.h

@@ -37,8 +37,6 @@ INCLUDES
 #include <vector>
 #include <string>
 #include "FGParameter.h"
-#include <input_output/FGXMLElement.h>
-#include <input_output/FGPropertyManager.h>
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 DEFINITIONS
@@ -52,6 +50,9 @@ FORWARD DECLARATIONS
 
 namespace JSBSim {
 
+class FGPropertyManager;
+class Element;
+
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 CLASS DOCUMENTATION
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
@@ -165,7 +166,7 @@ public:
     @param prefix an optional prefix to prepend to the name given to the property
            that represents this function (if given).
 */
-  FGFunction(FGPropertyManager* PropertyManager, Element* element, string prefix="");
+  FGFunction(FGPropertyManager* PropertyManager, Element* element, const std::string& prefix="");
   /// Destructor.
   virtual ~FGFunction();
 
@@ -175,10 +176,10 @@ public:
 
 /** The value that the function evaluates to, as a string.
   @return the value of the function as a string. */
-  string GetValueAsString(void) const;
+  std::string GetValueAsString(void) const;
 
 /// Retrieves the name of the function.
-  string GetName(void) const {return Name;}
+  std::string GetName(void) const {return Name;}
 
 /** Specifies whether to cache the value of the function, so it is calculated only
     once per frame.
@@ -189,44 +190,44 @@ public:
   void cacheValue(bool shouldCache);
 
 private:
-  vector <FGParameter*> Parameters;
+  std::vector <FGParameter*> Parameters;
   FGPropertyManager* const PropertyManager;
   bool cached;
-  string Prefix;
+  std::string Prefix;
-  string description_string;
+  std::string description_string;
-  string property_string;
+  std::string property_string;
-  string value_string;
+  std::string value_string;
-  string table_string;
+  std::string table_string;
-  string p_string;
+  std::string p_string;
-  string v_string;
+  std::string v_string;
-  string t_string;
+  std::string t_string;
-  string function_string;
+  std::string function_string;
-  string sum_string;
+  std::string sum_string;
-  string difference_string;
+  std::string difference_string;
-  string product_string;
+  std::string product_string;
-  string quotient_string;
+  std::string quotient_string;
-  string pow_string;
+  std::string pow_string;
-  string exp_string;
+  std::string exp_string;
-  string abs_string;
+  std::string abs_string;
-  string sin_string;
+  std::string sin_string;
-  string cos_string;
+  std::string cos_string;
-  string tan_string;
+  std::string tan_string;
-  string asin_string;
+  std::string asin_string;
-  string acos_string;
+  std::string acos_string;
-  string atan_string;
+  std::string atan_string;
-  string atan2_string;
+  std::string atan2_string;
-  string min_string;
+  std::string min_string;
-  string max_string;
+  std::string max_string;
-  string avg_string;
+  std::string avg_string;
-  string fraction_string;
+  std::string fraction_string;
-  string mod_string;
+  std::string mod_string;
-  string random_string;
+  std::string random_string;
-  string integer_string;
+  std::string integer_string;
   double cachedValue;
   enum functionType {eTopLevel=0, eProduct, eDifference, eSum, eQuotient, ePow,
                      eExp, eAbs, eSin, eCos, eTan, eASin, eACos, eATan, eATan2,
                      eMin, eMax, eAvg, eFrac, eInteger, eMod, eRandom} Type;
-  string Name;
+  std::string Name;
   void bind(void);
   void Debug(int from);
 };

src/FDM/JSBSim/math/FGLocation.cpp

@@ -41,7 +41,7 @@ INCLUDES
 #include <cmath>
 
 #include "FGLocation.h"
-#include <input_output/FGPropertyManager.h>
+#include "input_output/FGPropertyManager.h"
 
 namespace JSBSim {
 

src/FDM/JSBSim/math/FGLocation.h

@@ -39,8 +39,8 @@ SENTRY
 INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#include <FGJSBBase.h>
+#include "FGJSBBase.h"
-#include <input_output/FGPropertyManager.h>
+#include "input_output/FGPropertyManager.h"
 #include "FGColumnVector3.h"
 #include "FGMatrix33.h"
 

src/FDM/JSBSim/math/FGMatrix33.cpp

@@ -40,6 +40,10 @@ INCLUDES
 #include "FGMatrix33.h"
 #include "FGColumnVector3.h"
 
+#include <iostream>
+
+using namespace std;
+
 namespace JSBSim {
 
 static const char *IdSrc = "$Id$";

src/FDM/JSBSim/math/FGMatrix33.h

@@ -40,18 +40,8 @@ SENTRY
 INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#include <cstdlib>
 #include <string>
-#include <fstream>
+#include <iosfwd>
-#include <iostream>
-#include <cmath>
-
-using std::ostream;
-using std::istream;
-using std::cerr;
-using std::cout;
-using std::endl;
-using std::string;
 
 #include "FGColumnVector3.h"
 #include "FGJSBBase.h"
@@ -84,7 +74,7 @@ DECLARATION: MatrixException
 class MatrixException : public FGJSBBase
 {
 public:
-  string Message;
+  std::string Message;
 };
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -450,7 +440,7 @@ inline FGMatrix33 operator*(double scalar, const FGMatrix33& A) {
 
     Write the matrix to a stream.
 */
-ostream& operator<<(ostream& os, const FGMatrix33& M);
+std::ostream& operator<<(std::ostream& os, const FGMatrix33& M);
 
 /** Read matrix from a stream.
 
@@ -459,7 +449,7 @@ ostream& operator<<(ostream& os, const FGMatrix33& M);
 
     Read matrix from a stream.
 */
-istream& operator>>(istream& is, FGMatrix33& M);
+std::istream& operator>>(std::istream& is, FGMatrix33& M);
 
 } // namespace JSBSim
 

src/FDM/JSBSim/math/FGPropertyValue.h

@@ -35,7 +35,7 @@ INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #include "FGParameter.h"
-#include <input_output/FGPropertyManager.h>
+#include "input_output/FGPropertyManager.h"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 DEFINITIONS

src/FDM/JSBSim/math/FGQuaternion.h

@@ -40,10 +40,10 @@ SENTRY
   INCLUDES
   %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#include <FGJSBBase.h>
+#include "FGJSBBase.h"
 #include "FGMatrix33.h"
 #include "FGColumnVector3.h"
-#include <input_output/FGPropertyManager.h>
+#include "input_output/FGPropertyManager.h"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
   DEFINITIONS

src/FDM/JSBSim/math/FGTable.cpp

@@ -37,7 +37,11 @@ INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #include "FGTable.h"
-#include <iomanip>
+#include "input_output/FGXMLElement.h"
+#include "input_output/FGPropertyManager.h"
+#include <iostream>
+#include <sstream>
+#include <cstdlib>
 
 using namespace std;
 
@@ -307,7 +311,7 @@ FGTable::~FGTable()
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-unsigned int FGTable::FindNumColumns(string test_line)
+unsigned int FGTable::FindNumColumns(const string& test_line)
 {
   // determine number of data columns in table (first column is row lookup - don't count)
   size_t position=0;
@@ -466,7 +470,7 @@ double FGTable::GetValue(double rowKey, double colKey, double tableKey) const
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-void FGTable::operator<<(stringstream& in_stream)
+void FGTable::operator<<(istream& in_stream)
 {
   int startRow=0;
   int startCol=0;
@@ -488,7 +492,7 @@ void FGTable::operator<<(stringstream& in_stream)
 FGTable& FGTable::operator<<(const double n)
 {
   Data[rowCounter][colCounter] = n;
-  if (colCounter == nCols) {
+  if (colCounter == (int)nCols) {
     colCounter = 0;
     rowCounter++;
   } else {

src/FDM/JSBSim/math/FGTable.h

@@ -38,11 +38,10 @@ SENTRY
 INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#include <input_output/FGXMLElement.h>
 #include "FGParameter.h"
-#include <input_output/FGPropertyManager.h>
+#include <iosfwd>
-#include <sstream>
 #include <vector>
+#include <string>
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 DEFINITIONS
@@ -54,11 +53,11 @@ DEFINITIONS
 FORWARD DECLARATIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-using std::vector;
-using std::stringstream;
-
 namespace JSBSim {
 
+class FGPropertyManager;
+class Element;
+
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 CLASS DOCUMENTATION
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
@@ -280,7 +279,7 @@ public:
        </pre>
        */
 
-  void operator<<(stringstream&);
+  void operator<<(std::istream&);
   FGTable& operator<<(const double n);
   FGTable& operator<<(const int n);
 
@@ -298,16 +297,16 @@ private:
   bool internal;
   FGPropertyManager *lookupProperty[3];
   double** Data;
-  vector <FGTable*> Tables;
+  std::vector <FGTable*> Tables;
-  unsigned int FindNumColumns(string);
   unsigned int nRows, nCols, nTables, dimension;
   int colCounter, rowCounter, tableCounter;
   mutable int lastRowIndex, lastColumnIndex, lastTableIndex;
   double** Allocate(void);
   FGPropertyManager* const PropertyManager;
-  string Name;
+  std::string Name;
   void bind(void);
 
+  unsigned int FindNumColumns(const std::string&);
   void Debug(int from);
 };
 }

src/FDM/JSBSim/models/FGAerodynamics.cpp

@@ -36,13 +36,19 @@ HISTORY
 INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
+#include <iostream>
+#include <sstream>
+#include <iomanip>
+#include <cstdlib>
 #include <FGFDMExec.h>
 #include "FGAerodynamics.h"
 #include "FGPropagate.h"
 #include "FGAircraft.h"
 #include "FGAuxiliary.h"
 #include "FGMassBalance.h"
-#include <input_output/FGPropertyManager.h>
+#include "input_output/FGPropertyManager.h"
+
+using namespace std;
 
 namespace JSBSim {
 
@@ -324,21 +330,21 @@ bool FGAerodynamics::Load(Element *element)
 
   Debug(2);
 
-  if (temp_element = document->FindElement("alphalimits")) {
+  if ((temp_element = document->FindElement("alphalimits"))) {
     scratch_unit = temp_element->GetAttributeValue("unit");
     if (scratch_unit.empty()) scratch_unit = "RAD";
     alphaclmin = temp_element->FindElementValueAsNumberConvertFromTo("min", scratch_unit, "RAD");
     alphaclmax = temp_element->FindElementValueAsNumberConvertFromTo("max", scratch_unit, "RAD");
   }
 
-  if (temp_element = document->FindElement("hysteresis_limits")) {
+  if ((temp_element = document->FindElement("hysteresis_limits"))) {
     scratch_unit = temp_element->GetAttributeValue("unit");
     if (scratch_unit.empty()) scratch_unit = "RAD";
     alphahystmin = temp_element->FindElementValueAsNumberConvertFromTo("min", scratch_unit, "RAD");
     alphahystmax = temp_element->FindElementValueAsNumberConvertFromTo("max", scratch_unit, "RAD");
   }
 
-  if (temp_element = document->FindElement("aero_ref_pt_shift_x")) {
+  if ((temp_element = document->FindElement("aero_ref_pt_shift_x"))) {
     function_element = temp_element->FindElement("function");
     AeroRPShift = new FGFunction(PropertyManager, function_element);
   }
@@ -415,7 +421,7 @@ void FGAerodynamics::DetermineAxisSystem()
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-string FGAerodynamics::GetCoefficientStrings(string delimeter)
+string FGAerodynamics::GetCoefficientStrings(const string& delimeter) const
 {
   string CoeffStrings = "";
   bool firstime = true;
@@ -445,33 +451,24 @@ string FGAerodynamics::GetCoefficientStrings(string delimeter)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-string FGAerodynamics::GetCoefficientValues(string delimeter)
+string FGAerodynamics::GetCoefficientValues(const string& delimeter) const
 {
-  string SDValues = "";
+  ostringstream buf;
-  bool firstime = true;
-  unsigned int sd;
 
-  for (sd = 0; sd < variables.size(); sd++) {
+  buf.precision(6);
-    if (firstime) {
+  for (unsigned int sd = 0; sd < variables.size(); sd++) {
-      firstime = false;
+    if (buf.tellp() > 0) buf << delimeter;
-    } else {
+    buf << setw(9) << variables[sd]->GetValue();
-      SDValues += delimeter;
-    }
-    SDValues += variables[sd]->GetValueAsString();
   }
 
   for (unsigned int axis = 0; axis < 6; axis++) {
     for (unsigned int sd = 0; sd < Coeff[axis].size(); sd++) {
-      if (firstime) {
+      if (buf.tellp() > 0) buf << delimeter;
-        firstime = false;
+      buf << setw(9) << Coeff[axis][sd]->GetValue();
-      } else {
-        SDValues += delimeter;
-      }
-      SDValues += Coeff[axis][sd]->GetValueAsString();
     }
   }
 
-  return SDValues;
+  return buf.str();
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -558,6 +555,9 @@ void FGAerodynamics::Debug(int from)
         case (atBodyXYZ):
           cout << endl << "  Aerodynamics (X|Y|Z axes):" << endl << endl;
           break;
+      case (atNone):
+          cout << endl << "  Aerodynamics (undefined axes):" << endl << endl;
+          break;
       }
     }
   }

src/FDM/JSBSim/models/FGAerodynamics.h

@@ -38,14 +38,15 @@ SENTRY
 INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
+#include <string>
 #include <vector>
 #include <map>
 
 #include "FGModel.h"
-#include <math/FGFunction.h>
+#include "math/FGFunction.h"
-#include <math/FGColumnVector3.h>
+#include "math/FGColumnVector3.h"
-#include <math/FGMatrix33.h>
+#include "math/FGMatrix33.h"
-#include <input_output/FGXMLFileRead.h>
+#include "input_output/FGXMLFileRead.h"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 DEFINITIONS
@@ -188,13 +189,13 @@ public:
   /** Gets the strings for the current set of coefficients.
       @param delimeter either a tab or comma string depending on output type
       @return a string containing the descriptive names for all coefficients */
-  string GetCoefficientStrings(string delimeter);
+  std::string GetCoefficientStrings(const std::string& delimeter) const;
 
   /** Gets the coefficient values.
       @param delimeter either a tab or comma string depending on output type
       @return a string containing the numeric values for the current set of
       coefficients */
-  string GetCoefficientValues(string delimeter);
+  std::string GetCoefficientValues(const std::string& delimeter) const;
 
   /** Calculates and returns the wind-to-body axis transformation matrix.
       @return a reference to the wind-to-body transformation matrix.
@@ -206,14 +207,14 @@ public:
       */
   FGMatrix33& GetTb2w(void);
 
-  vector <FGFunction*> * GetCoeff(void) const { return Coeff; }
+  std::vector <FGFunction*> * GetCoeff(void) const { return Coeff; }
 
 private:
   enum eAxisType {atNone, atLiftDrag, atAxialNormal, atBodyXYZ} axisType;
-  typedef map<string,int> AxisIndex;
+  typedef std::map<std::string,int> AxisIndex;
   AxisIndex AxisIdx;
   FGFunction* AeroRPShift;
-  vector <FGFunction*> variables;
+  std::vector <FGFunction*> variables;
   typedef vector <FGFunction*> CoeffArray;
   CoeffArray* Coeff;
   FGColumnVector3 vFnative;

src/FDM/JSBSim/models/FGAircraft.cpp

@@ -50,9 +50,13 @@ INCLUDES
 #include "FGExternalReactions.h"
 #include "FGBuoyantForces.h"
 #include "FGAerodynamics.h"
-#include <FGFDMExec.h>
+#include "FGFDMExec.h"
 #include "FGPropagate.h"
-#include <input_output/FGPropertyManager.h>
+#include "FGPropulsion.h"
+#include "input_output/FGPropertyManager.h"
+#include <iostream>
+
+using namespace std;
 
 namespace JSBSim {
 

src/FDM/JSBSim/models/FGAircraft.h

@@ -38,11 +38,12 @@ SENTRY
 INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
+#include <string>
 #include <vector>
 
 #include "FGModel.h"
-#include <input_output/FGXMLElement.h>
+#include "input_output/FGXMLElement.h"
-#include <math/FGColumnVector3.h>
+#include "math/FGColumnVector3.h"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 DEFINITIONS
@@ -131,7 +132,7 @@ public:
 
   /** Gets the aircraft name
       @return the name of the aircraft as a string type */
-  inline string GetAircraftName(void) { return AircraftName; }
+  const std::string& GetAircraftName(void) const { return AircraftName; }
 
   /// Gets the wing area
   double GetWingArea(void) const { return WingArea; }
@@ -163,7 +164,7 @@ public:
   inline double GetXYZrp(int idx) const { return vXYZrp(idx); }
   inline double GetXYZvrp(int idx) const { return vXYZvrp(idx); }
   inline double GetXYZep(int idx) const { return vXYZep(idx); }
-  inline void SetAircraftName(string name) {AircraftName = name;}
+  inline void SetAircraftName(const std::string& name) {AircraftName = name;}
   inline void SetHoldDown(int hd) {HoldDown = hd;}
   inline int GetHoldDown(void) const {return HoldDown;}
 
@@ -193,7 +194,7 @@ private:
   double HTailArea, VTailArea, HTailArm, VTailArm;
   double lbarh,lbarv,vbarh,vbarv;
   int HoldDown;
-  string AircraftName;
+  std::string AircraftName;
 
   void Debug(int from);
 };

src/FDM/JSBSim/models/FGAtmosphere.cpp

@@ -48,12 +48,16 @@ INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #include "FGAtmosphere.h"
-#include <FGState.h>
+#include "FGState.h"
-#include <FGFDMExec.h>
+#include "FGFDMExec.h"
 #include "FGAircraft.h"
 #include "FGPropagate.h"
 #include "FGInertial.h"
-#include <input_output/FGPropertyManager.h>
+#include "input_output/FGPropertyManager.h"
+#include <iostream>
+#include <cstdlib>
+
+using namespace std;
 
 namespace JSBSim {
 
@@ -454,10 +458,12 @@ void FGAtmosphere::Turbulence(void)
     vDirectiondAccelDt(eX) = GaussianRandomNumber();
     vDirectiondAccelDt(eY) = GaussianRandomNumber();
     vDirectiondAccelDt(eZ) = GaussianRandomNumber();
-
+/*
     MagnitudedAccelDt = GaussianRandomNumber();
     MagnitudeAccel    += MagnitudedAccelDt * DeltaT;
     Magnitude         += MagnitudeAccel * DeltaT;
+*/
+    Magnitude         += GaussianRandomNumber() * DeltaT;
 
     vDirectiondAccelDt.Normalize();
     vDirectionAccel += TurbRate * vDirectiondAccelDt * DeltaT;

src/FDM/JSBSim/models/FGAtmosphere.h

@@ -43,7 +43,7 @@ INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #include "FGModel.h"
-#include <math/FGColumnVector3.h>
+#include "math/FGColumnVector3.h"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 DEFINITIONS

src/FDM/JSBSim/models/FGAuxiliary.cpp

@@ -44,14 +44,18 @@ INCLUDES
 #include "FGAerodynamics.h"
 #include "FGPropagate.h"
 #include "FGAtmosphere.h"
-#include <FGFDMExec.h>
+#include "FGFDMExec.h"
 #include "FGAircraft.h"
 #include "FGInertial.h"
 #include "FGExternalReactions.h"
 #include "FGBuoyantForces.h"
 #include "FGGroundReactions.h"
 #include "FGPropulsion.h"
-#include <input_output/FGPropertyManager.h>
+#include "FGMassBalance.h"
+#include "input_output/FGPropertyManager.h"
+#include <iostream>
+
+using namespace std;
 
 namespace JSBSim {
 
@@ -392,6 +396,13 @@ void FGAuxiliary::CalculateRelativePosition(void)
   relative_position = sqrt(lat_relative_position*lat_relative_position + lon_relative_position*lon_relative_position);
 };
 
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+double FGAuxiliary::BadUnits(void) const
+{
+  cerr << "Bad units" << endl; return 0.0;
+}
+
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 //    The bitmasked value choices are as follows:
 //    unset: In this case (the default) JSBSim would only print

src/FDM/JSBSim/models/FGAuxiliary.h

@@ -40,9 +40,8 @@ INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #include "FGModel.h"
-#include <FGFDMExec.h>
+#include "math/FGColumnVector3.h"
-#include <math/FGColumnVector3.h>
+#include "math/FGLocation.h"
-#include <math/FGLocation.h>
 #include "FGPropagate.h"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -172,15 +171,15 @@ public:
   double GetMagBeta (void) const { return fabs(beta); }
 
   double Getalpha   (int unit) const { if (unit == inDegrees) return alpha*radtodeg;
-                                       else cerr << "Bad units" << endl; return 0.0;}
+                                       else return BadUnits(); }
   double Getbeta    (int unit) const { if (unit == inDegrees) return beta*radtodeg;
-                                       else cerr << "Bad units" << endl; return 0.0;}
+                                       else return BadUnits(); }
   double Getadot    (int unit) const { if (unit == inDegrees) return adot*radtodeg;
-                                       else cerr << "Bad units" << endl; return 0.0;}
+                                       else return BadUnits(); }
   double Getbdot    (int unit) const { if (unit == inDegrees) return bdot*radtodeg;
-                                       else cerr << "Bad units" << endl; return 0.0;}
+                                       else return BadUnits(); }
   double GetMagBeta (int unit) const { if (unit == inDegrees) return fabs(beta)*radtodeg;
-                                       else cerr << "Bad units" << endl; return 0.0;}
+                                       else return BadUnits(); }
 
   double Getqbar          (void) const { return qbar;       }
   double GetqbarUW        (void) const { return qbarUW;     }
@@ -281,6 +280,7 @@ private:
   void CalculateRelativePosition(void);
 
   void bind(void);
+  double BadUnits(void) const;
   void Debug(int from);
 };
 

src/FDM/JSBSim/models/FGBuoyantForces.cpp

@@ -38,7 +38,10 @@ INCLUDES
 
 #include "FGBuoyantForces.h"
 #include "FGMassBalance.h"
-#include <input_output/FGPropertyManager.h>  // Need?
+#include "input_output/FGPropertyManager.h"  // Need?
+#include <iostream>
+
+using namespace std;
 
 namespace JSBSim {
 

src/FDM/JSBSim/models/FGBuoyantForces.h

@@ -44,8 +44,8 @@ INCLUDES
 
 #include "FGModel.h"
 #include "FGGasCell.h"
-#include <math/FGColumnVector3.h>
+#include "math/FGColumnVector3.h"
-#include <input_output/FGXMLFileRead.h>
+#include "input_output/FGXMLFileRead.h"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 DEFINITIONS

src/FDM/JSBSim/models/FGExternalForce.cpp

@@ -53,6 +53,10 @@
 */
 
 #include "FGExternalForce.h"
+#include "input_output/FGXMLElement.h"
+#include <iostream>
+
+using namespace std;
 
 namespace JSBSim {
 

src/FDM/JSBSim/models/FGExternalForce.h

@@ -39,13 +39,13 @@ SENTRY
 INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#include <FGFDMExec.h>
+#include "FGFDMExec.h"
-#include <FGJSBBase.h>
+#include "FGJSBBase.h"
-#include <models/propulsion/FGForce.h>
+#include "models/propulsion/FGForce.h"
 #include <string>
-#include <input_output/FGPropertyManager.h>
+#include "input_output/FGPropertyManager.h"
-#include <math/FGColumnVector3.h>
+#include "math/FGColumnVector3.h"
-#include <math/FGFunction.h>
+#include "math/FGFunction.h"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 DEFINITIONS

src/FDM/JSBSim/models/FGExternalReactions.cpp

@@ -37,8 +37,12 @@ INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #include "FGExternalReactions.h"
+#include "input_output/FGXMLElement.h"
+#include <iostream>
 #include <string>
 
+using namespace std;
+
 namespace JSBSim {
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

src/FDM/JSBSim/models/FGExternalReactions.h

@@ -40,7 +40,7 @@ INCLUDES
 
 #include "FGModel.h"
 #include "FGExternalForce.h"
-#include <input_output/FGXMLElement.h>
+#include <vector>
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 DEFINITIONS
@@ -54,6 +54,8 @@ FORWARD DECLARATIONS
 
 namespace JSBSim {
 
+class Element;
+
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 CLASS DOCUMENTATION
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
@@ -154,7 +156,7 @@ public:
 
 private:
 
-  vector <FGExternalForce*> Forces;
+  std::vector <FGExternalForce*> Forces;
   unsigned int numForces;
   FGColumnVector3 vTotalForces;
   FGColumnVector3 vTotalMoments;

src/FDM/JSBSim/models/FGFCS.cpp

@@ -38,24 +38,28 @@ INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #include "FGFCS.h"
-#include <FGFDMExec.h>
+#include "FGFDMExec.h"
-#include <input_output/FGPropertyManager.h>
+#include "FGGroundReactions.h"
+#include "input_output/FGPropertyManager.h"
 #include <fstream>
 #include <sstream>
 #include <iomanip>
 
-#include <models/flight_control/FGFilter.h>
+#include "models/flight_control/FGFilter.h"
-#include <models/flight_control/FGDeadBand.h>
+#include "models/flight_control/FGDeadBand.h"
-#include <models/flight_control/FGGain.h>
+#include "models/flight_control/FGGain.h"
-#include <models/flight_control/FGPID.h>
+#include "models/flight_control/FGPID.h"
-#include <models/flight_control/FGSwitch.h>
+#include "models/flight_control/FGSwitch.h"
-#include <models/flight_control/FGSummer.h>
+#include "models/flight_control/FGSummer.h"
-#include <models/flight_control/FGKinemat.h>
+#include "models/flight_control/FGKinemat.h"
-#include <models/flight_control/FGFCSFunction.h>
+#include "models/flight_control/FGFCSFunction.h"
-#include <models/flight_control/FGSensor.h>
+#include "models/flight_control/FGSensor.h"
-#include <models/flight_control/FGActuator.h>
+#include "models/flight_control/FGActuator.h"
-#include <models/flight_control/FGAccelerometer.h>
+#include "models/flight_control/FGAccelerometer.h"
-#include <models/flight_control/FGGyro.h>
+#include "models/flight_control/FGMagnetometer.h"
+#include "models/flight_control/FGGyro.h"
+
+using namespace std;
 
 namespace JSBSim {
 
@@ -643,6 +647,8 @@ bool FGFCS::Load(Element* el, SystemType systype)
           Components->push_back(new FGSensor(this, component_element));
         } else if (component_element->GetName() == string("accelerometer")) {
           Components->push_back(new FGAccelerometer(this, component_element));
+        } else if (component_element->GetName() == string("magnetometer")) {
+          Components->push_back(new FGMagnetometer(this, component_element));
         } else if (component_element->GetName() == string("gyro")) {
           Components->push_back(new FGGyro(this, component_element));
         } else {
@@ -682,7 +688,7 @@ double FGFCS::GetBrake(FGLGear::BrakeGroup bg)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-string FGFCS::FindSystemFullPathname(string system_filename)
+string FGFCS::FindSystemFullPathname(const string& system_filename)
 {
   string fullpath, localpath;
   string systemPath = FDMExec->GetSystemsPath();
@@ -710,7 +716,7 @@ string FGFCS::FindSystemFullPathname(string system_filename)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-ifstream* FGFCS::FindSystemFile(string system_filename)
+ifstream* FGFCS::FindSystemFile(const string& system_filename)
 {
   string fullpath, localpath;
   string systemPath = FDMExec->GetSystemsPath();
@@ -735,7 +741,7 @@ ifstream* FGFCS::FindSystemFile(string system_filename)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-string FGFCS::GetComponentStrings(string delimeter)
+string FGFCS::GetComponentStrings(const string& delimiter)
 {
   unsigned int comp;
   string CompStrings = "";
@@ -744,7 +750,7 @@ string FGFCS::GetComponentStrings(string delimeter)
 
   for (unsigned int i=0; i<Systems.size(); i++) {
     if (firstime) firstime = false;
-    else          CompStrings += delimeter;
+    else          CompStrings += delimiter;
 
     CompStrings += Systems[i]->GetName();
     total_count++;
@@ -753,7 +759,7 @@ string FGFCS::GetComponentStrings(string delimeter)
   for (comp = 0; comp < APComponents.size(); comp++)
   {
     if (firstime) firstime = false;
-    else          CompStrings += delimeter;
+    else          CompStrings += delimiter;
 
     CompStrings += APComponents[comp]->GetName();
     total_count++;
@@ -761,7 +767,7 @@ string FGFCS::GetComponentStrings(string delimeter)
 
   for (comp = 0; comp < FCSComponents.size(); comp++) {
     if (firstime) firstime = false;
-    else          CompStrings += delimeter;
+    else          CompStrings += delimiter;
 
     CompStrings += FCSComponents[comp]->GetName();
     total_count++;
@@ -772,7 +778,7 @@ string FGFCS::GetComponentStrings(string delimeter)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-string FGFCS::GetComponentValues(string delimeter)
+string FGFCS::GetComponentValues(const string& delimiter)
 {
   std::ostringstream buf;
 
@@ -782,7 +788,7 @@ string FGFCS::GetComponentValues(string delimeter)
 
   for (unsigned int i=0; i<Systems.size(); i++) {
     if (firstime) firstime = false;
-    else          buf << delimeter;
+    else          buf << delimiter;
 
     buf << setprecision(9) << Systems[i]->GetOutput();
     total_count++;
@@ -790,7 +796,7 @@ string FGFCS::GetComponentValues(string delimeter)
 
   for (comp = 0; comp < APComponents.size(); comp++) {
     if (firstime) firstime = false;
-    else          buf << delimeter;
+    else          buf << delimiter;
 
     buf << setprecision(9) << APComponents[comp]->GetOutput();
     total_count++;
@@ -798,7 +804,7 @@ string FGFCS::GetComponentValues(string delimeter)
 
   for (comp = 0; comp < FCSComponents.size(); comp++) {
     if (firstime) firstime = false;
-    else          buf << delimeter;
+    else          buf << delimiter;
 
     buf << setprecision(9) << FCSComponents[comp]->GetOutput();
     total_count++;

src/FDM/JSBSim/models/FGFCS.h

@@ -38,13 +38,14 @@ SENTRY
 INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
+#include <iosfwd>
 #include <vector>
 
 #include <string>
-#include <models/flight_control/FGFCSComponent.h>
+#include "models/flight_control/FGFCSComponent.h"
-#include <models/FGModel.h>
+#include "models/FGModel.h"
-#include <models/FGLGear.h>
+#include "models/FGLGear.h"
-#include <input_output/FGXMLFileRead.h>
+#include "input_output/FGXMLFileRead.h"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 DEFINITIONS
@@ -352,15 +353,15 @@ public:
   FGState* GetState(void) { return State; }
 
   /** Retrieves all component names for inclusion in output stream
-      @param delimeter either a tab or comma string depending on output type
+      @param delimiter either a tab or comma string depending on output type
       @return a string containing the descriptive names for all components */
-  string GetComponentStrings(string delimeter);
+  std::string GetComponentStrings(const std::string& delimiter);
 
   /** Retrieves all component outputs for inclusion in output stream
-      @param delimeter either a tab or comma string depending on output type
+      @param delimiter either a tab or comma string depending on output type
       @return a string containing the numeric values for the current set of
       component outputs */
-  string GetComponentValues(string delimeter);
+  std::string GetComponentValues(const std::string& delimiter);
 
   /// @name Pilot input command setting
   //@{
@@ -537,8 +538,8 @@ public:
       @return true if succesful */
   bool Load(Element* el, SystemType systype);
 
-  ifstream* FindSystemFile(string system_filename);
+  std::ifstream* FindSystemFile(const std::string& system_filename);
-  string FindSystemFullPathname(string system_filename);
+  std::string FindSystemFullPathname(const std::string& system_filename);
 
   void AddThrottle(void);
   void AddGear(void);
@@ -551,20 +552,20 @@ private:
   double DePos[NForms], DaLPos[NForms], DaRPos[NForms], DrPos[NForms];
   double DfPos[NForms], DsbPos[NForms], DspPos[NForms];
   double PTrimCmd, YTrimCmd, RTrimCmd;
-  vector <double> ThrottleCmd;
+  std::vector <double> ThrottleCmd;
-  vector <double> ThrottlePos;
+  std::vector <double> ThrottlePos;
-  vector <double> MixtureCmd;
+  std::vector <double> MixtureCmd;
-  vector <double> MixturePos;
+  std::vector <double> MixturePos;
-  vector <double> PropAdvanceCmd;
+  std::vector <double> PropAdvanceCmd;
-  vector <double> PropAdvance;
+  std::vector <double> PropAdvance;
-  vector <bool> PropFeatherCmd;
+  std::vector <bool> PropFeatherCmd;
-  vector <bool> PropFeather;
+  std::vector <bool> PropFeather;
-  vector <double> SteerPosDeg;
+  std::vector <double> SteerPosDeg;
   double LeftBrake, RightBrake, CenterBrake; // Brake settings
   double GearCmd,GearPos;
   double TailhookPos, WingFoldPos;
 
-  typedef vector <FGFCSComponent*> FCSCompVec;
+  typedef std::vector <FGFCSComponent*> FCSCompVec;
   FCSCompVec Systems;
   FCSCompVec FCSComponents;
   FCSCompVec APComponents;

src/FDM/JSBSim/models/FGGasCell.cpp

@@ -35,16 +35,21 @@ HISTORY
 INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#include <FGFDMExec.h>
+#include "FGFDMExec.h"
-#include <models/FGAuxiliary.h>
+#include "models/FGAuxiliary.h"
-#include <models/FGAtmosphere.h>
+#include "models/FGAtmosphere.h"
-#include <models/FGInertial.h>
+#include "models/FGInertial.h"
-#include <models/FGMassBalance.h>
+#include "models/FGMassBalance.h"
 #include "FGGasCell.h"
+#include "input_output/FGXMLElement.h"
+#include <iostream>
+#include <cstdlib>
 
 using std::cerr;
 using std::endl;
 using std::cout;
+using std::string;
+using std::max;
 
 namespace JSBSim {
 

src/FDM/JSBSim/models/FGGasCell.h

@@ -39,17 +39,12 @@ SENTRY
 INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#include <FGJSBBase.h>
+#include "FGJSBBase.h"
-#include <input_output/FGXMLElement.h>
+#include "math/FGColumnVector3.h"
-#include <math/FGColumnVector3.h>
+#include "models/propulsion/FGForce.h"
-#include <models/propulsion/FGForce.h>
+#include "math/FGFunction.h"
-#include <math/FGFunction.h>
 
 #include <string>
-using std::string;
-using std::cerr;
-using std::endl;
-using std::cout;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 DEFINITIONS
@@ -64,6 +59,7 @@ FORWARD DECLARATIONS
 namespace JSBSim {
 
 class FGBallonet;
+class Element;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 CLASS DOCUMENTATION
@@ -230,7 +226,7 @@ private:
   enum GasType {ttUNKNOWN, ttHYDROGEN, ttHELIUM, ttAIR};
 
   GasType Type;
-  string type;
+  std::string type;
   int CellNum;
   // Structural constants
   double MaxVolume;                 // [ft<66>]

src/FDM/JSBSim/models/FGGroundReactions.cpp

@@ -39,7 +39,10 @@ INCLUDES
 #include <iomanip>
 
 #include "FGGroundReactions.h"
-#include <input_output/FGPropertyManager.h>
+#include "FGFCS.h"
+#include "input_output/FGPropertyManager.h"
+
+using namespace std;
 
 namespace JSBSim {
 
@@ -95,8 +98,8 @@ bool FGGroundReactions::Run(void)
   // Perhaps there is some commonality for things which only need to be
   // calculated once.
   for (unsigned int i=0; i<lGear.size(); i++) {
-    vForces  += lGear[i]->Force();
+    vForces  += lGear[i]->GetBodyForces();
-    vMoments += lGear[i]->Moment();
+    vMoments += lGear[i]->GetMoments();
   }
 
   return false;

src/FDM/JSBSim/models/FGGroundReactions.h

@@ -42,8 +42,8 @@ INCLUDES
 
 #include "FGModel.h"
 #include "FGLGear.h"
-#include <math/FGColumnVector3.h>
+#include "math/FGColumnVector3.h"
-#include <input_output/FGXMLElement.h>
+#include "input_output/FGXMLElement.h"
 
 #define ID_GROUNDREACTIONS "$Id$"
 

src/FDM/JSBSim/models/FGInertial.cpp

@@ -36,10 +36,13 @@ INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #include "FGInertial.h"
-#include <FGFDMExec.h>
+#include "FGFDMExec.h"
 #include "FGPropagate.h"
 #include "FGState.h"
 #include "FGMassBalance.h"
+#include <iostream>
+
+using namespace std;
 
 namespace JSBSim {
 

src/FDM/JSBSim/models/FGInertial.h

@@ -41,7 +41,7 @@ INCLUDES
 #include <vector>
 
 #include "FGModel.h"
-#include <math/FGColumnVector3.h>
+#include "math/FGColumnVector3.h"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 DEFINITIONS

src/FDM/JSBSim/models/FGInput.cpp

@@ -42,8 +42,14 @@ INCLUDES
 #include "FGState.h"
 #include "FGFDMExec.h"
 
-#include <fstream>
+#include "input_output/FGfdmSocket.h"
+#include "input_output/FGXMLElement.h"
+
+#include <sstream>
 #include <iomanip>
+#include <cstdlib>
+
+using namespace std;
 
 namespace JSBSim {
 
@@ -89,10 +95,8 @@ bool FGInput::InitModel(void)
 
 bool FGInput::Run(void)
 {
-  string line, token, info_string;
+  string line, token;
-  int start=0, string_start=0, string_end=0;
+  size_t start=0, string_start=0, string_end=0;
-  int token_start=0, token_end=0;
-  char buf[100];
   double value=0;
   FGPropertyManager* node=0;
 
@@ -158,8 +162,9 @@ bool FGInput::Run(void)
             socket->Reply("Must be in HOLD to search properties\n");
           }
         } else if (node > 0) {
-          sprintf(buf, "%s = %12.6f\n", argument.c_str(), node->getDoubleValue());
+          ostringstream buf;
-          socket->Reply(buf);
+          buf << argument << " = " << setw(12) << setprecision(6) << node->getDoubleValue() << endl;
+          socket->Reply(buf.str());
         }
 
       } else if (command == "hold") {                  // PAUSE
@@ -181,12 +186,12 @@ bool FGInput::Run(void)
       } else if (command == "info") {                   // INFO
 
         // get info about the sim run and/or aircraft, etc.
-        sprintf(buf, "%8.3f\0", State->Getsim_time());
+        ostringstream info;
-        info_string  = "JSBSim version: " + JSBSim_version + "\n";
+        info << "JSBSim version: " << JSBSim_version << endl;
-        info_string += "Config File version: " + needed_cfg_version + "\n";
+        info << "Config File version: " << needed_cfg_version << endl;
-        info_string += "Aircraft simulated: " + Aircraft->GetAircraftName() + "\n";
+        info << "Aircraft simulated: " << Aircraft->GetAircraftName() << endl;
-        info_string += "Simulation time: " + string(buf) + "\n";
+        info << "Simulation time: " << setw(8) << setprecision(3) << State->Getsim_time() << endl;
-        socket->Reply(info_string);
+        socket->Reply(info.str());
 
       } else if (command == "help") {                   // HELP
 

src/FDM/JSBSim/models/FGInput.h

@@ -40,11 +40,7 @@ INCLUDES
 
 #include "FGModel.h"
 
-#include <iostream>
+#include <string>
-#include <fstream>
-
-#include <input_output/FGfdmSocket.h>
-#include <input_output/FGXMLElement.h>
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 DEFINITIONS
@@ -58,6 +54,10 @@ FORWARD DECLARATIONS
 
 namespace JSBSim {
 
+class FGFDMExec;
+class Element;
+class FGfdmSocket;
+
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 CLASS DOCUMENTATION
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
@@ -78,7 +78,6 @@ public:
   bool InitModel(void);
   bool Run(void);
 
-  void SetType(string);
   inline void Enable(void) { enabled = true; }
   inline void Disable(void) { enabled = false; }
   inline bool Toggle(void) {enabled = !enabled; return enabled;}
@@ -88,7 +87,7 @@ private:
   bool sFirstPass, dFirstPass, enabled;
   unsigned int port;
   FGfdmSocket* socket;
-  string data;
+  std::string data;
   void Debug(int from);
 };
 }

src/FDM/JSBSim/models/FGLGear.cpp

@@ -41,6 +41,16 @@ INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #include "FGLGear.h"
+#include "FGState.h"
+#include "FGGroundReactions.h"
+#include "FGFCS.h"
+#include "FGAuxiliary.h"
+#include "FGAtmosphere.h"
+#include "FGMassBalance.h"
+#include "math/FGTable.h"
+#include <cstdlib>
+
+using namespace std;
 
 namespace JSBSim {
 
@@ -55,13 +65,18 @@ GLOBAL DATA
 static const char *IdSrc = "$Id$";
 static const char *IdHdr = ID_LGEAR;
 
+// Body To Structural (body frame is rotated 180 deg about Y and lengths are given in
+// ft instead of inches)
+const FGMatrix33 FGLGear::Tb2s(-1./inchtoft, 0., 0., 0., 1./inchtoft, 0., 0., 0., -1./inchtoft);
+
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 CLASS IMPLEMENTATION
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 FGLGear::FGLGear(Element* el, FGFDMExec* fdmex, int number) :
+  FGForce(fdmex),
   GearNumber(number),
-  Exec(fdmex)
+  SteerAngle(0.0)
 {
   Element *force_table=0;
   Element *dampCoeff=0;
@@ -81,7 +96,8 @@ FGLGear::FGLGear(Element* el, FGFDMExec* fdmex, int number) :
   } else if (sContactType == "STRUCTURE") {
     eContactType = ctSTRUCTURE;
   } else {
-    eContactType = ctUNKNOWN;
+    // Unknown contact point types will be treated as STRUCTURE.
+    eContactType = ctSTRUCTURE;
   }
 
   if (el->FindElement("spring_coeff"))
@@ -125,7 +141,7 @@ FGLGear::FGLGear(Element* el, FGFDMExec* fdmex, int number) :
   while (force_table) {
     force_type = force_table->GetAttributeValue("type");
     if (force_type == "CORNERING_COEFF") {
-      ForceY_Table = new FGTable(Exec->GetPropertyManager(), force_table);
+      ForceY_Table = new FGTable(fdmex->GetPropertyManager(), force_table);
     } else {
       cerr << "Undefined force table for " << name << " contact point" << endl;
     }
@@ -139,8 +155,37 @@ FGLGear::FGLGear(Element* el, FGFDMExec* fdmex, int number) :
   else sSteerType = "STEERABLE";
 
   Element* element = el->FindElement("location");
-  if (element) vXYZ = element->FindElementTripletConvertTo("IN");
+  if (element) vXYZn = element->FindElementTripletConvertTo("IN");
   else {cerr << "No location given for contact " << name << endl; exit(-1);}
+  SetTransformType(FGForce::tCustom);
+
+  element = el->FindElement("orientation");
+  if (element && (eContactType == ctBOGEY)) {
+    vGearOrient = element->FindElementTripletConvertTo("RAD");
+
+    double cp,sp,cr,sr,cy,sy;
+
+    cp=cos(vGearOrient(ePitch)); sp=sin(vGearOrient(ePitch));
+    cr=cos(vGearOrient(eRoll));  sr=sin(vGearOrient(eRoll));
+    cy=cos(vGearOrient(eYaw));   sy=sin(vGearOrient(eYaw));
+
+    mTGear(1,1) =  cp*cy;
+    mTGear(2,1) =  cp*sy;
+    mTGear(3,1) = -sp;
+
+    mTGear(1,2) = sr*sp*cy - cr*sy;
+    mTGear(2,2) = sr*sp*sy + cr*cy;
+    mTGear(3,2) = sr*cp;
+
+    mTGear(1,3) = cr*sp*cy + sr*sy;
+    mTGear(2,3) = cr*sp*sy - sr*cy;
+    mTGear(3,3) = cr*cp;
+  }
+  else {
+    mTGear(1,1) = 1.;
+    mTGear(2,2) = 1.;
+    mTGear(3,3) = 1.;
+  }
 
   if      (sBrakeGroup == "LEFT"  ) eBrakeGrp = bgLeft;
   else if (sBrakeGroup == "RIGHT" ) eBrakeGrp = bgRight;
@@ -178,7 +223,13 @@ FGLGear::FGLGear(Element* el, FGFDMExec* fdmex, int number) :
     }
   }
 
-  State = Exec->GetState();
+  State       = fdmex->GetState();
+  Aircraft    = fdmex->GetAircraft();
+  Propagate   = fdmex->GetPropagate();
+  Auxiliary   = fdmex->GetAuxiliary();
+  FCS         = fdmex->GetFCS();
+  MassBalance = fdmex->GetMassBalance();
+
   LongForceLagFilterCoeff = 1/State->Getdt(); // default longitudinal force filter coefficient
   LatForceLagFilterCoeff  = 1/State->Getdt(); // default lateral force filter coefficient
 
@@ -213,13 +264,6 @@ FGLGear::FGLGear(Element* el, FGFDMExec* fdmex, int number) :
 // Add some AI here to determine if gear is located properly according to its
 // brake group type ??
 
-  State       = Exec->GetState();
-  Aircraft    = Exec->GetAircraft();
-  Propagate   = Exec->GetPropagate();
-  Auxiliary   = Exec->GetAuxiliary();
-  FCS         = Exec->GetFCS();
-  MassBalance = Exec->GetMassBalance();
-
   WOW = lastWOW = false;
   ReportEnable = true;
   FirstContact = false;
@@ -229,11 +273,9 @@ FGLGear::FGLGear(Element* el, FGFDMExec* fdmex, int number) :
   MaximumStrutForce = MaximumStrutTravel = 0.0;
   SinkRate = GroundSpeed = 0.0;
 
-  vWhlBodyVec = MassBalance->StructuralToBody(vXYZ);
+  vWhlBodyVec = MassBalance->StructuralToBody(vXYZn);
-
   vLocalGear = Propagate->GetTb2l() * vWhlBodyVec;
-
+  vWhlVelVec.InitMatrix();
-  vLocalWhlVel.InitMatrix();
 
   compressLength  = 0.0;
   compressSpeed   = 0.0;
@@ -263,36 +305,38 @@ FGLGear::~FGLGear()
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-FGColumnVector3& FGLGear::Force(void)
+FGColumnVector3& FGLGear::GetBodyForces(void)
 {
-  double t = Exec->GetState()->Getsim_time();
+  double t = fdmex->GetState()->Getsim_time();
-  dT = State->Getdt()*Exec->GetGroundReactions()->GetRate();
+  dT = State->Getdt()*fdmex->GetGroundReactions()->GetRate();
 
-  vForce.InitMatrix();
+  vFn.InitMatrix();
-  vLocalForce.InitMatrix();
-  vMoment.InitMatrix();
 
   if (isRetractable) ComputeRetractionState();
 
   if (GearDown) {
+    double verticalZProj = 0.;
 
-    vWhlBodyVec = MassBalance->StructuralToBody(vXYZ); // Get wheel in body frame
+    vWhlBodyVec = MassBalance->StructuralToBody(vXYZn); // Get wheel in body frame
     vLocalGear = Propagate->GetTb2l() * vWhlBodyVec; // Get local frame wheel location
 
     gearLoc = Propagate->GetLocation().LocalToLocation(vLocalGear);
     // Compute the height of the theoretical location of the wheel (if strut is not compressed) with
     // respect to the ground level
-    double height = Exec->GetGroundCallback()->GetAGLevel(t, gearLoc, contact, normal, cvel);
+    double height = fdmex->GetGroundCallback()->GetAGLevel(t, gearLoc, contact, normal, cvel);
     vGroundNormal = -1. * Propagate->GetTec2b() * normal;
 
+    // The height returned above is the AGL and is expressed in the Z direction of the local
+    // coordinate frame. We now need to transform this height in actual compression of the strut (BOGEY)
+    // of in the normal direction to the ground (STRUCTURE)
     switch (eContactType) {
     case ctBOGEY:
-      // Project the height in the local coordinate frame of the strut to compute the actual compression
+      verticalZProj = (Propagate->GetTb2l()*mTGear*FGColumnVector3(0.,0.,1.))(eZ);
-      // length. The strut is assumed to be parallel to Z in the body frame.
+      compressLength = verticalZProj > 0.0 ? -height / verticalZProj : 0.0;
-      compressLength = vGroundNormal(eZ) < 0.0 ? height / vGroundNormal(eZ) : 0.0;
       break;
     case ctSTRUCTURE:
-      compressLength = -height;
+      verticalZProj = (Propagate->GetTec2l()*normal)(eZ);
+      compressLength = fabs(verticalZProj) > 0.0 ? -height / verticalZProj : 0.0;
       break;
     }
 
@@ -303,20 +347,28 @@ FGColumnVector3& FGLGear::Force(void)
       // [The next equation should really use the vector to the contact patch of
       // the tire including the strut compression and not the original vWhlBodyVec.]
 
-      FGColumnVector3 vWhlContactVec = vWhlBodyVec - FGColumnVector3(0., 0., compressLength);
+      FGColumnVector3 vWhlDisplVec = mTGear * FGColumnVector3(0., 0., compressLength);
-      vWhlVelVec      =  Propagate->GetPQR() * vWhlContactVec;
+      FGColumnVector3 vWhlContactVec = vWhlBodyVec - vWhlDisplVec;
-      vWhlVelVec     +=  Propagate->GetUVW() - Propagate->GetTec2b() * cvel;
+      vActingXYZn = vXYZn - Tb2s * vWhlDisplVec;
+      FGColumnVector3 vBodyWhlVel  = Propagate->GetPQR() * vWhlContactVec;
+      vBodyWhlVel += Propagate->GetUVW() - Propagate->GetTec2b() * cvel;
+
+      vWhlVelVec = mTGear.Transposed() * vBodyWhlVel;
 
       InitializeReporting();
       ComputeSteeringAngle();
       ComputeGroundCoordSys();
 
-      vLocalWhlVel = Tb2g * vWhlVelVec;
+      vLocalWhlVel = Transform().Transposed() * vBodyWhlVel;
 
-      compressSpeed = -vLocalWhlVel(eZ);
+      switch (eContactType) {
-      if (eContactType == ctBOGEY)
+      case ctBOGEY:
-        // Project the compression speed in the local coordinate frame of the strut
+        // Compression speed along the strut
-        compressSpeed /= -vGroundNormal(eZ);
+        compressSpeed = -vWhlVelVec(eZ);
+      case ctSTRUCTURE:
+        // Compression speed along the ground normal
+        compressSpeed = -vLocalWhlVel(eX);
+      }
 
       ComputeVerticalStrutForce();
 
@@ -325,15 +377,15 @@ FGColumnVector3& FGLGear::Force(void)
         ComputeSlipAngle();
         ComputeBrakeForceCoefficient();
         ComputeSideForceCoefficient();
-        double sign = vLocalWhlVel(eX)>0?1.0:(vLocalWhlVel(eX)<0?-1.0:0.0);
+        double sign = vLocalWhlVel(eY)>0?1.0:(vLocalWhlVel(eY)<0?-1.0:0.0);
-        vLocalForce(eX) = - ((1.0 - TirePressureNorm) * 30 + vLocalForce(eZ) * BrakeFCoeff) * sign;
+        vFn(eY) = - ((1.0 - TirePressureNorm) * 30 + vFn(eX) * BrakeFCoeff) * sign;
-        vLocalForce(eY) = vLocalForce(eZ) * FCoeff;
+        vFn(eZ) = vFn(eX) * FCoeff;
       }
       else if (eContactType == ctSTRUCTURE) {
         FGColumnVector3 vSlipVec = vLocalWhlVel;
-        vSlipVec(eZ) = 0.;
+        vSlipVec(eX) = 0.;
         vSlipVec.Normalize();
-        vLocalForce -= staticFCoeff * vLocalForce(eZ) * vSlipVec;
+        vFn -= staticFCoeff * vFn(eX) * vSlipVec;
       }
 
       // Lag and attenuate the XY-plane forces dependent on velocity. This code
@@ -343,28 +395,25 @@ FGColumnVector3& FGLGear::Force(void)
       // If a coefficient is set to something equal to or less than zero, the
       // filter is bypassed.
 
-      if (LongForceLagFilterCoeff > 0) vLocalForce(eX) = LongForceFilter.execute(vLocalForce(eX));
+      if (LongForceLagFilterCoeff > 0) vFn(eY) = LongForceFilter.execute(vFn(eY));
-      if (LatForceLagFilterCoeff > 0)  vLocalForce(eY) = LatForceFilter.execute(vLocalForce(eY));
+      if (LatForceLagFilterCoeff > 0)  vFn(eZ) = LatForceFilter.execute(vFn(eZ));
 
-      if ((fabs(vLocalWhlVel(eX)) <= RFRV) && RFRV > 0) vLocalForce(eX) *= fabs(vLocalWhlVel(eX))/RFRV;
+      if ((fabs(vLocalWhlVel(eY)) <= RFRV) && RFRV > 0) vFn(eY) *= fabs(vLocalWhlVel(eY))/RFRV;
-      if ((fabs(vLocalWhlVel(eY)) <= SFRV) && SFRV > 0) vLocalForce(eY) *= fabs(vLocalWhlVel(eY))/SFRV;
+      if ((fabs(vLocalWhlVel(eZ)) <= SFRV) && SFRV > 0) vFn(eZ) *= fabs(vLocalWhlVel(eZ))/SFRV;
 
       // End section for attenuating gear jitter
 
-      // Transform the forces back to the body frame and compute the moment.
-
-      vForce  = Tg2b * vLocalForce;
-      vMoment = vWhlContactVec * vForce;
-
     } else { // Gear is NOT compressed
 
       WOW = false;
       compressLength = 0.0;
       compressSpeed = 0.0;
+      WheelSlip = 0.0;
+      StrutForce = 0.0;
 
       // Let wheel spin down slowly
-      vLocalWhlVel(eX) -= 13.0*dT;
+      vWhlVelVec(eX) -= 13.0*dT;
-      if (vLocalWhlVel(eX) < 0.0) vLocalWhlVel(eX) = 0.0;
+      if (vWhlVelVec(eX) < 0.0) vWhlVelVec(eX) = 0.0;
 
       // Return to neutral position between 1.0 and 0.8 gear pos.
       SteerAngle *= max(GetGearUnitPos()-0.8, 0.0)/0.2;
@@ -381,64 +430,46 @@ FGColumnVector3& FGLGear::Force(void)
 
   lastWOW = WOW;
 
-  return vForce;
+  return FGForce::GetBodyForces();
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 // Build a local "ground" coordinate system defined by
-//  eX : projection of the rolling direction on the ground
+//  eX : normal to the ground
-//  eY : projection of the sliping direction on the ground
+//  eY : projection of the rolling direction on the ground
-//  eZ : normal to the ground
+//  eZ : projection of the sliping direction on the ground
 
 void FGLGear::ComputeGroundCoordSys(void)
 {
-  FGColumnVector3 vRollingGroundVec;
+  // Euler angles are built up to create a local frame to describe the forces
+  // applied to the gear by the ground. Here pitch, yaw and roll do not have
+  // any physical meaning. It is just a convenient notation.
+  // First, "pitch" and "yaw" are determined in order to align eX with the
+  // ground normal.
+  if (vGroundNormal(eZ) < -1.0)
+    vOrient(ePitch) = 0.5*M_PI;
+  else if (1.0 < vGroundNormal(eZ))
+    vOrient(ePitch) = -0.5*M_PI;
+  else
+    vOrient(ePitch) = asin(-vGroundNormal(eZ));
+
+  if (fabs(vOrient(ePitch)) == 0.5*M_PI)
+    vOrient(eYaw) = 0.;
+  else
+    vOrient(eYaw) = atan2(vGroundNormal(eY), vGroundNormal(eX));
+  
+  vOrient(eRoll) = 0.;
+  UpdateCustomTransformMatrix();
 
   if (eContactType == ctBOGEY) {
-    // Compute the rolling direction projected on the ground
+    // In the case of a bogey, the third angle "roll" is used to align the axis eY and eZ
-    // It consists in finding a vector 'r' such that 'r' lies in the plane (w,z) and r.n = 0 (scalar
+    // to the rolling and sliping direction respectively.
-    // product) where:
+    FGColumnVector3 updatedRollingAxis = Transform().Transposed() * mTGear
-    // 'n' is the normal to the ground,
+                                       * FGColumnVector3(-sin(SteerAngle), cos(SteerAngle), 0.);
-    // (x,y,z) are the directions defined in the body coord system
+
-    // and 'w' is 'x' rotated by the steering angle (SteerAngle) in the plane (x,y). 
+    vOrient(eRoll) = atan2(updatedRollingAxis(eY), -updatedRollingAxis(eZ));
-    // r = u * w + v * z and r.n = 0 => v/u = -w.n/z.n = a
+    UpdateCustomTransformMatrix();
-    // We also want u**2+v**2=1 and u > 0 (i.e. r orientated in the same 'direction' than w)
-    // after some arithmetic, one finds that :
-    double a = -(vGroundNormal(eX)*cos(SteerAngle)+vGroundNormal(eY)*sin(SteerAngle)) / vGroundNormal(eZ);
-    double u = 1. / sqrt(1. + a*a);
-    double v = a * u;
-    vRollingGroundVec = FGColumnVector3(u * cos(SteerAngle), u * sin(SteerAngle), v);
   }
-  else {
-    // Here the only significant direction is the normal to the ground "vGroundNormal". Since there is
-    // no wheel the 2 other vectors of the orthonormal basis are not meaningful and are only used to
-    // create the transformation matrix Tg2b. So we are building vRollingGroundVec as an arbitrary
-    // vector normal to vGroundNormal
-    if (fabs(vGroundNormal(eX)) > 0.)
-      vRollingGroundVec = FGColumnVector3(-vGroundNormal(eZ)/vGroundNormal(eX), 0., 1.);
-    else if (fabs(vGroundNormal(eY)) > 0.)
-      vRollingGroundVec = FGColumnVector3(0., -vGroundNormal(eZ)/vGroundNormal(eY), 1.);
-    else
-      vRollingGroundVec = FGColumnVector3(1., 0., -vGroundNormal(eX)/vGroundNormal(eZ));
-
-    vRollingGroundVec.Normalize();
-  }
-
-  // The sliping direction is the cross product multiplication of the ground normal and rolling
-  // directions
-  FGColumnVector3 vSlipGroundVec = vGroundNormal * vRollingGroundVec;
-
-  Tg2b(1,1) = vRollingGroundVec(eX);
-  Tg2b(2,1) = vRollingGroundVec(eY);
-  Tg2b(3,1) = vRollingGroundVec(eZ);
-  Tg2b(1,2) = vSlipGroundVec(eX);
-  Tg2b(2,2) = vSlipGroundVec(eY);
-  Tg2b(3,2) = vSlipGroundVec(eZ);
-  Tg2b(1,3) = vGroundNormal(eX);
-  Tg2b(2,3) = vGroundNormal(eY);
-  Tg2b(3,3) = vGroundNormal(eZ);
-
-  Tb2g = Tg2b.Transposed();
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -450,7 +481,7 @@ void FGLGear::ComputeRetractionState(void)
     GearUp   = true;
     WOW      = false;
     GearDown = false;
-    vLocalWhlVel.InitMatrix();
+    vWhlVelVec.InitMatrix();
   } else if (gearPos > 0.99) {
     GearDown = true;
     GearUp   = false;
@@ -465,7 +496,7 @@ void FGLGear::ComputeRetractionState(void)
 void FGLGear::ComputeSlipAngle(void)
 {
   // Calculate tire slip angle.
-  WheelSlip = -atan2(vLocalWhlVel(eY), fabs(vLocalWhlVel(eX)))*radtodeg;
+  WheelSlip = -atan2(vLocalWhlVel(eZ), fabs(vLocalWhlVel(eY)))*radtodeg;
 
   // Filter the wheel slip angle
   if (WheelSlipLagFilterCoeff > 0) WheelSlip = WheelSlipFilter.execute(WheelSlip);
@@ -485,7 +516,7 @@ void FGLGear::ComputeSteeringAngle(void)
     SteerAngle = 0.0;
     break;
   case stCaster:
-    SteerAngle = atan2(fabs(vWhlVelVec(eX)), vWhlVelVec(eY));
+    SteerAngle = atan2(vWhlVelVec(eY), fabs(vWhlVelVec(eX)));
     break;
   default:
     cerr << "Improper steering type membership detected for this gear." << endl;
@@ -540,7 +571,7 @@ void FGLGear::InitializeReporting(void)
 
 void FGLGear::ReportTakeoffOrLanding(void)
 {
-  double deltaT = State->Getdt()*Exec->GetGroundReactions()->GetRate();
+  double deltaT = State->Getdt()*fdmex->GetGroundReactions()->GetRate();
 
   if (FirstContact)
     LandingDistanceTraveled += Auxiliary->GetVground()*deltaT;
@@ -553,7 +584,7 @@ void FGLGear::ReportTakeoffOrLanding(void)
   if ( ReportEnable
        && Auxiliary->GetVground() <= 0.05
        && !LandingReported
-       && Exec->GetGroundReactions()->GetWOW())
+       && fdmex->GetGroundReactions()->GetWOW())
   {
     if (debug_lvl > 0) Report(erLand);
   }
@@ -561,7 +592,7 @@ void FGLGear::ReportTakeoffOrLanding(void)
   if ( ReportEnable
        && !TakeoffReported
        && (Propagate->GetDistanceAGL() - vLocalGear(eZ)) > 50.0
-       && !Exec->GetGroundReactions()->GetWOW())
+       && !fdmex->GetGroundReactions()->GetWOW())
   {
     if (debug_lvl > 0) Report(erTakeoff);
   }
@@ -575,8 +606,8 @@ void FGLGear::ReportTakeoffOrLanding(void)
 void FGLGear::CrashDetect(void)
 {
   if ( (compressLength > 500.0 ||
-      vForce.Magnitude() > 100000000.0 ||
+      vFn.Magnitude() > 100000000.0 ||
-      vMoment.Magnitude() > 5000000000.0 ||
+      GetMoments().Magnitude() > 5000000000.0 ||
       SinkRate > 1.4666*30 ) && !State->IntegrationSuspended())
   {
     PutMessage("Crash Detected: Simulation FREEZE.");
@@ -678,10 +709,10 @@ void FGLGear::ComputeVerticalStrutForce(void)
   switch (eContactType) {
   case ctBOGEY:
     // Project back the strut force in the local coordinate frame of the ground
-    vLocalForce(eZ) =  StrutForce / vGroundNormal(eZ);
+    vFn(eX) = StrutForce / (mTGear.Transposed()*vGroundNormal)(eZ);
     break;
   case ctSTRUCTURE:
-    vLocalForce(eZ) = -StrutForce;
+    vFn(eX) = -StrutForce;
     break;
   }
 
@@ -711,30 +742,33 @@ void FGLGear::bind(void)
   base_property_name = CreateIndexedPropertyName("gear/unit", GearNumber);
   if (eContactType == ctBOGEY) {
     property_name = base_property_name + "/slip-angle-deg";
-    Exec->GetPropertyManager()->Tie( property_name.c_str(), &WheelSlip );
+    fdmex->GetPropertyManager()->Tie( property_name.c_str(), &WheelSlip );
     property_name = base_property_name + "/WOW";
-    Exec->GetPropertyManager()->Tie( property_name.c_str(), &WOW );
+    fdmex->GetPropertyManager()->Tie( property_name.c_str(), &WOW );
     property_name = base_property_name + "/wheel-speed-fps";
-    Exec->GetPropertyManager()->Tie( property_name.c_str(), (FGLGear*)this,
+    fdmex->GetPropertyManager()->Tie( property_name.c_str(), (FGLGear*)this,
                           &FGLGear::GetWheelRollVel);
     property_name = base_property_name + "/z-position";
-    Exec->GetPropertyManager()->Tie( property_name.c_str(), (FGLGear*)this,
+    fdmex->GetPropertyManager()->Tie( property_name.c_str(), (FGForce*)this,
-                          &FGLGear::GetZPosition, &FGLGear::SetZPosition);
+                          &FGForce::GetLocationZ, &FGForce::SetLocationZ);
     property_name = base_property_name + "/compression-ft";
-    Exec->GetPropertyManager()->Tie( property_name.c_str(), &compressLength );
+    fdmex->GetPropertyManager()->Tie( property_name.c_str(), &compressLength );
     property_name = base_property_name + "/side_friction_coeff";
-    Exec->GetPropertyManager()->Tie( property_name.c_str(), &FCoeff );
+    fdmex->GetPropertyManager()->Tie( property_name.c_str(), &FCoeff );
 
     property_name = base_property_name + "/static_friction_coeff";
-    Exec->GetPropertyManager()->Tie( property_name.c_str(), &staticFCoeff );
+    fdmex->GetPropertyManager()->Tie( property_name.c_str(), &staticFCoeff );
 
+    if (eSteerType == stCaster) {
+      property_name = base_property_name + "/steering-angle-rad";
+      fdmex->GetPropertyManager()->Tie( property_name.c_str(), &SteerAngle );
+    }
   }
 
   if( isRetractable ) {
     property_name = base_property_name + "/pos-norm";
-    Exec->GetPropertyManager()->Tie( property_name.c_str(), &GearPos );
+    fdmex->GetPropertyManager()->Tie( property_name.c_str(), &GearPos );
   }
-
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -746,7 +780,7 @@ void FGLGear::Report(ReportType repType)
   switch(repType) {
   case erLand:
     cout << endl << "Touchdown report for " << name << " (WOW at time: "
-         << Exec->GetState()->Getsim_time() << " seconds)" << endl;
+         << fdmex->GetState()->Getsim_time() << " seconds)" << endl;
     cout << "  Sink rate at contact:  " << SinkRate                << " fps,    "
                                 << SinkRate*0.3048          << " mps"     << endl;
     cout << "  Contact ground speed:  " << GroundSpeed*.5925       << " knots,  "
@@ -761,18 +795,20 @@ void FGLGear::Report(ReportType repType)
     break;
   case erTakeoff:
     cout << endl << "Takeoff report for " << name << " (Liftoff at time: "
-         << Exec->GetState()->Getsim_time() << " seconds)" << endl;
+         << fdmex->GetState()->Getsim_time() << " seconds)" << endl;
     cout << "  Distance traveled:                " << TakeoffDistanceTraveled
          << " ft,     " << TakeoffDistanceTraveled*0.3048  << " meters"  << endl;
     cout << "  Distance traveled (over 50'):     " << TakeoffDistanceTraveled50ft
          << " ft,     " << TakeoffDistanceTraveled50ft*0.3048 << " meters" << endl;
-    cout << "  [Altitude (ASL): " << Exec->GetPropagate()->GetAltitudeASL() << " ft. / "
+    cout << "  [Altitude (ASL): " << fdmex->GetPropagate()->GetAltitudeASL() << " ft. / "
-         << Exec->GetPropagate()->GetAltitudeASLmeters() << " m  | Temperature: "
+         << fdmex->GetPropagate()->GetAltitudeASLmeters() << " m  | Temperature: "
-         << Exec->GetAtmosphere()->GetTemperature() - 459.67 << " F / "
+         << fdmex->GetAtmosphere()->GetTemperature() - 459.67 << " F / "
-         << RankineToCelsius(Exec->GetAtmosphere()->GetTemperature()) << " C]" << endl;
+         << RankineToCelsius(fdmex->GetAtmosphere()->GetTemperature()) << " C]" << endl;
-    cout << "  [Velocity (KCAS): " << Exec->GetAuxiliary()->GetVcalibratedKTS() << "]" << endl;
+    cout << "  [Velocity (KCAS): " << fdmex->GetAuxiliary()->GetVcalibratedKTS() << "]" << endl;
     TakeoffReported = true;
     break;
+  case erNone:
+    break;
   }
 }
 
@@ -802,7 +838,7 @@ void FGLGear::Debug(int from)
   if (debug_lvl & 1) { // Standard console startup message output
     if (from == 0) { // Constructor - loading and initialization
       cout << "    " << sContactType << " " << name          << endl;
-      cout << "      Location: "         << vXYZ          << endl;
+      cout << "      Location: "         << vXYZn          << endl;
       cout << "      Spring Constant:  " << kSpring       << endl;
 
       if (eDampType == dtLinear)

src/FDM/JSBSim/models/FGLGear.h

@@ -38,11 +38,8 @@ SENTRY
 INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#include <FGJSBBase.h>
+#include "models/propulsion/FGForce.h"
-#include <FGFDMExec.h>
+#include "math/FGColumnVector3.h"
-#include <input_output/FGXMLElement.h>
-#include <math/FGColumnVector3.h>
-#include <math/FGTable.h>
 #include <string>
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -63,6 +60,8 @@ class FGFCS;
 class FGState;
 class FGMassBalance;
 class FGAuxiliary;
+class FGTable;
+class Element;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 CLASS DOCUMENTATION
@@ -199,7 +198,7 @@ CLASS DOCUMENTATION
 CLASS DECLARATION
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-class FGLGear : public FGJSBBase
+class FGLGear : public FGForce
 {
 public:
   /// Brake grouping enumerators
@@ -207,7 +206,7 @@ public:
   /// Steering group membership enumerators
   enum SteerType {stSteer, stFixed, stCaster};
   /// Contact point type
-  enum ContactType {ctBOGEY, ctSTRUCTURE, ctUNKNOWN};
+  enum ContactType {ctBOGEY, ctSTRUCTURE};
   /// Report type enumerators
   enum ReportType {erNone=0, erTakeoff, erLand};
   /// Damping types
@@ -222,9 +221,7 @@ public:
   ~FGLGear();
 
   /// The Force vector for this gear
-  FGColumnVector3& Force(void);
+  FGColumnVector3& GetBodyForces(void);
-  /// The Moment vector for this gear
-  FGColumnVector3& Moment(void) {return vMoment;}
 
   /// Gets the location of the gear in Body axes
   FGColumnVector3& GetBodyLocation(void) { return vWhlBodyVec; }
@@ -269,35 +266,34 @@ public:
   int GetBrakeGroup(void) const { return (int)eBrakeGrp; }
   int GetSteerType(void) const  { return (int)eSteerType; }
 
-  double GetZPosition(void) const { return vXYZ(3); }
+  bool GetSteerable(void) const        { return eSteerType != stFixed; }
-  void SetZPosition(double z) { vXYZ(3) = z; }
-
-  bool GetSteerable(void) const { return eSteerType != stFixed; }
   bool GetRetractable(void) const      { return isRetractable;   }
   bool GetGearUnitUp(void) const       { return GearUp;          }
   bool GetGearUnitDown(void) const     { return GearDown;        }
-  double GetWheelSideForce(void) const { return vLocalForce(eY); }
+  double GetWheelRollForce(void) {
-  double GetWheelRollForce(void) const { return vLocalForce(eX); }
+    FGColumnVector3 vForce = mTGear.Transposed() * FGForce::GetBodyForces();
-  double GetWheelSideVel(void) const   { return vWhlVelVec(eY);  }
+    return vForce(eX)*cos(SteerAngle) + vForce(eY)*sin(SteerAngle); }
-  double GetWheelRollVel(void) const   { return vWhlVelVec(eX);  }
+  double GetWheelSideForce(void) {
-  double GetBodyXForce(void) const     { return vForce(eX);      }
+    FGColumnVector3 vForce = mTGear.Transposed() * FGForce::GetBodyForces();
-  double GetBodyYForce(void) const     { return vForce(eY);      }
+    return vForce(eY)*cos(SteerAngle) - vForce(eX)*sin(SteerAngle); }
+  double GetWheelRollVel(void) const   { return vWhlVelVec(eX)*cos(SteerAngle)
+                                              + vWhlVelVec(eY)*sin(SteerAngle);  }
+  double GetWheelSideVel(void) const   { return vWhlVelVec(eY)*cos(SteerAngle)
+                                              - vWhlVelVec(eX)*sin(SteerAngle);  }
   double GetWheelSlipAngle(void) const { return WheelSlip;       }
-  double GetWheelVel(int axis) const          { return vWhlVelVec(axis);}
+  double GetWheelVel(int axis) const   { return vWhlVelVec(axis);}
-  bool IsBogey(void) const                    { return (eContactType == ctBOGEY);}
+  bool IsBogey(void) const             { return (eContactType == ctBOGEY);}
   double GetGearUnitPos(void);
 
   void bind(void);
 
 private:
   int GearNumber;
-  FGMatrix33 Tg2b, Tb2g;
+  static const FGMatrix33 Tb2s;
-  FGColumnVector3 vXYZ;
+  FGMatrix33 mTGear;
-  FGColumnVector3 vMoment;
+  FGColumnVector3 vGearOrient;
   FGColumnVector3 vWhlBodyVec;
   FGColumnVector3 vLocalGear;
-  FGColumnVector3 vForce;
-  FGColumnVector3 vLocalForce;
   FGColumnVector3 vWhlVelVec, vLocalWhlVel;     // Velocity of this wheel
   FGColumnVector3 normal, cvel, vGroundNormal;
   FGLocation contact, gearLoc;
@@ -336,11 +332,11 @@ private:
   bool isRetractable;
   bool GearUp, GearDown;
   bool Servicable;
-  string name;
+  std::string name;
-  string sSteerType;
+  std::string sSteerType;
-  string sBrakeGroup;
+  std::string sBrakeGroup;
-  string sRetractable;
+  std::string sRetractable;
-  string sContactType;
+  std::string sContactType;
 
   BrakeGroup  eBrakeGrp;
   ContactType eContactType;
@@ -358,7 +354,6 @@ private:
   Filter LatForceFilter;
   Filter WheelSlipFilter;
 
-  FGFDMExec*     Exec;
   FGState*       State;
   FGAircraft*    Aircraft;
   FGPropagate*   Propagate;
@@ -381,12 +376,6 @@ private:
   void Debug(int from);
 };
 }
-#include "FGAircraft.h"
-#include "FGPropagate.h"
-#include "FGAuxiliary.h"
-#include "FGFCS.h"
-#include "FGMassBalance.h"
-#include "FGState.h"
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 

src/FDM/JSBSim/models/FGMassBalance.cpp

@@ -41,7 +41,11 @@ INCLUDES
 #include "FGMassBalance.h"
 #include "FGPropulsion.h"
 #include "FGBuoyantForces.h"
-#include <input_output/FGPropertyManager.h>
+#include "input_output/FGPropertyManager.h"
+#include <iostream>
+#include <cstdlib>
+
+using namespace std;
 
 namespace JSBSim {
 
@@ -338,6 +342,24 @@ void FGMassBalance::bind(void)
                        (PMF)&FGMassBalance::GetXYZcg);
 }
 
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
+void FGMassBalance::PointMass::bind(FGPropertyManager* PropertyManager, int num) {
+  string tmp = CreateIndexedPropertyName("inertia/pointmass-weight-lbs", num);
+  PropertyManager->Tie( tmp.c_str(), this, &PointMass::GetPointMassWeight,
+                                       &PointMass::SetPointMassWeight);
+
+  tmp = CreateIndexedPropertyName("inertia/pointmass-location-X-inches", num);
+  PropertyManager->Tie( tmp.c_str(), this, eX, &PointMass::GetPointMassLocation,
+                                           &PointMass::SetPointMassLocation);
+  tmp = CreateIndexedPropertyName("inertia/pointmass-location-Y-inches", num);
+  PropertyManager->Tie( tmp.c_str(), this, eY, &PointMass::GetPointMassLocation,
+                                           &PointMass::SetPointMassLocation);
+  tmp = CreateIndexedPropertyName("inertia/pointmass-location-Z-inches", num);
+  PropertyManager->Tie( tmp.c_str(), this, eZ, &PointMass::GetPointMassLocation,
+                                           &PointMass::SetPointMassLocation);
+}
+
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 //    The bitmasked value choices are as follows:
 //    unset: In this case (the default) JSBSim would only print

src/FDM/JSBSim/models/FGMassBalance.h

@@ -39,9 +39,9 @@ INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #include "FGModel.h"
-#include <math/FGColumnVector3.h>
+#include "math/FGColumnVector3.h"
-#include <math/FGMatrix33.h>
+#include "math/FGMatrix33.h"
-#include <input_output/FGXMLElement.h>
+#include "input_output/FGXMLElement.h"
 #include <vector>
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -189,24 +189,10 @@ private:
     void SetPointMassWeight(double wt) {Weight = wt;}
     double GetPointMassWeight(void) const {return Weight;}
 
-    void bind(FGPropertyManager* PropertyManager, int num) {
+    void bind(FGPropertyManager* PropertyManager, int num);
-      string tmp = CreateIndexedPropertyName("inertia/pointmass-weight-lbs", num);
-      PropertyManager->Tie( tmp.c_str(), this, &PointMass::GetPointMassWeight,
-                                       &PointMass::SetPointMassWeight);
-
-      tmp = CreateIndexedPropertyName("inertia/pointmass-location-X-inches", num);
-      PropertyManager->Tie( tmp.c_str(), this, eX, &PointMass::GetPointMassLocation,
-                                           &PointMass::SetPointMassLocation);
-      tmp = CreateIndexedPropertyName("inertia/pointmass-location-Y-inches", num);
-      PropertyManager->Tie( tmp.c_str(), this, eY, &PointMass::GetPointMassLocation,
-                                           &PointMass::SetPointMassLocation);
-      tmp = CreateIndexedPropertyName("inertia/pointmass-location-Z-inches", num);
-      PropertyManager->Tie( tmp.c_str(), this, eZ, &PointMass::GetPointMassLocation,
-                                           &PointMass::SetPointMassLocation);
-    }
   };
 
-  vector <struct PointMass*> PointMasses;
+  std::vector <struct PointMass*> PointMasses;
 
   void bind(void);
   void Debug(int from);

src/FDM/JSBSim/models/FGModel.cpp

@@ -52,6 +52,9 @@ INCLUDES
 #include "FGAircraft.h"
 #include "FGPropagate.h"
 #include "FGAuxiliary.h"
+#include <iostream>
+
+using namespace std;
 
 namespace JSBSim {
 

src/FDM/JSBSim/models/FGModel.h

@@ -38,11 +38,8 @@ SENTRY
 INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#include <FGJSBBase.h>
+#include "FGJSBBase.h"
-#include <input_output/FGPropertyManager.h>
-#include <input_output/FGXMLElement.h>
 
-#include <iostream>
 #include <string>
 #include <vector>
 
@@ -52,8 +49,6 @@ DEFINITIONS
 
 #define ID_MODEL "$Id$"
 
-using namespace std;
-
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
@@ -74,6 +69,8 @@ class FGBuoyantForces;
 class FGAircraft;
 class FGPropagate;
 class FGAuxiliary;
+class Element;
+class FGPropertyManager;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 CLASS DOCUMENTATION
@@ -102,7 +99,7 @@ public:
   virtual bool Load(Element* el);
 
   FGModel* NextModel;
-  string Name;
+  std::string Name;
 
   /** Runs the model; called by the Executive
       @see JSBSim.cpp documentation
@@ -137,7 +134,7 @@ protected:
   FGAuxiliary*       Auxiliary;
   FGPropertyManager* PropertyManager;
 
-  vector <double*> interface_properties;
+  std::vector <double*> interface_properties;
 };
 }
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

src/FDM/JSBSim/models/FGOutput.cpp

@@ -53,13 +53,16 @@ INCLUDES
 #include "FGPropagate.h"
 #include "FGAuxiliary.h"
 #include "FGInertial.h"
-#include "FGPropulsion.h"   //access to FGEngine, FGTank
+#include "models/propulsion/FGEngine.h"
+#include "models/propulsion/FGTank.h"
 #include "models/propulsion/FGPiston.h"
-#include <fstream>
+#include <sstream>
 #include <iomanip>
 #include <cstring>
+#include <cstdlib>
 
 #include "input_output/net_fdm.hxx"
+#include "input_output/FGfdmSocket.h"
 
 #if defined(WIN32) && !defined(__CYGWIN__)
 #  include <windows.h>
@@ -70,6 +73,8 @@ INCLUDES
 static const int endianTest = 1;
 #define isLittleEndian (*((char *) &endianTest ) != 0)
 
+using namespace std;
+
 namespace JSBSim {
 
 static const char *IdSrc = "$Id$";
@@ -157,20 +162,17 @@ FGOutput::~FGOutput()
 
 bool FGOutput::InitModel(void)
 {
-  char fname[1000] = "";
-
   if (!FGModel::InitModel()) return false;
 
   if (Filename.size() > 0 && StartNewFile) {
-    int idx = BaseFilename.find_last_of(".");
+    ostringstream buf;
-    int len = BaseFilename.length();
+    string::size_type dot = BaseFilename.find_last_of('.');
-    string extension = "";
+    if (dot != string::npos) {
-    if (idx != string::npos) {
+      buf << BaseFilename.substr(0, dot) << '_' << runID_postfix++ << BaseFilename.substr(dot);
-      extension = BaseFilename.substr(idx, len-idx);
+    } else {
-      len -= extension.length();
+      buf << BaseFilename << '_' << runID_postfix++;
     }
-    sprintf(fname, "%s_%d%s", BaseFilename.substr(0,len).c_str(), runID_postfix++, extension.c_str());
+    Filename = buf.str();
-    Filename = string(fname);
     datafile.close();
     StartNewFile = false;
     dFirstPass = true;
@@ -205,7 +207,7 @@ bool FGOutput::Run(void)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-void FGOutput::SetType(string type)
+void FGOutput::SetType(const string& type)
 {
   if (type == "CSV") {
     Type = otCSV;
@@ -227,7 +229,7 @@ void FGOutput::SetType(string type)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-void FGOutput::DelimitedOutput(string fname)
+void FGOutput::DelimitedOutput(const string& fname)
 {
   streambuf* buffer;
   string scratch = "";
@@ -918,7 +920,7 @@ void FGOutput::SocketOutput(void)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-void FGOutput::SocketStatusOutput(string out_str)
+void FGOutput::SocketStatusOutput(const string& out_str)
 {
   string asciiData;
 
@@ -1084,6 +1086,7 @@ void FGOutput::Debug(int from)
         cout << scratch << " in CSV format output at rate " << 1/(State->Getdt()*rate) << " Hz" << endl;
         break;
       case otNone:
+      default:
         cout << "  No log output" << endl;
         break;
       }

src/FDM/JSBSim/models/FGOutput.h

@@ -41,14 +41,11 @@ INCLUDES
 
 #include "FGModel.h"
 
-#include <iostream>
 #include <fstream>
 
-#include "input_output/FGfdmSocket.h"
 #include "input_output/FGXMLFileRead.h"
 #include "input_output/net_fdm.hxx"
 
-
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 DEFINITIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
@@ -61,6 +58,8 @@ FORWARD DECLARATIONS
 
 namespace JSBSim {
 
+class FGfdmSocket;
+
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 CLASS DOCUMENTATION
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
@@ -140,22 +139,22 @@ public:
   bool InitModel(void);
   bool Run(void);
 
-  void DelimitedOutput(string);
+  void DelimitedOutput(const std::string&);
   void SocketOutput(void);
   void FlightGearSocketOutput(void);
-  void SocketStatusOutput(string);
+  void SocketStatusOutput(const std::string&);
   void SocketDataFill(FGNetFDM* net);
 
 
-  void SetType(string);
+  void SetType(const std::string& type);
   void SetStartNewFile(bool tt) {StartNewFile = tt;}
   void SetSubsystems(int tt) {SubSystems = tt;}
   void Enable(void) { enabled = true; }
   void Disable(void) { enabled = false; }
   bool Toggle(void) {enabled = !enabled; return enabled;}
   bool Load(Element* el);
-  void SetOutputFileName(string fname) {Filename = fname;}
+  void SetOutputFileName(const std::string& fname) {Filename = fname;}
-  void SetDirectivesFile(string fname) {DirectivesFile = fname;}
+  void SetDirectivesFile(const std::string& fname) {DirectivesFile = fname;}
   void SetRate(int rt);
   string GetOutputFileName(void) const {return Filename;}
 
@@ -185,11 +184,11 @@ private:
   int SubSystems;
   int runID_postfix;
   bool StartNewFile;
-  string output_file_name, delimeter, BaseFilename, Filename, DirectivesFile;
+  std::string output_file_name, delimeter, BaseFilename, Filename, DirectivesFile;
-  ofstream datafile;
+  std::ofstream datafile;
   FGfdmSocket* socket;
   FGfdmSocket* flightGearSocket;
-  vector <FGPropertyManager*> OutputProperties;
+  std::vector <FGPropertyManager*> OutputProperties;
 
   void Debug(int from);
 };

src/FDM/JSBSim/models/FGPropagate.cpp

@@ -54,15 +54,18 @@ INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #include <cmath>
-#include <iomanip>
+#include <cstdlib>
+#include <iostream>
 
 #include "FGPropagate.h"
-#include <FGFDMExec.h>
+#include "FGFDMExec.h"
-#include <FGState.h>
+#include "FGState.h"
 #include "FGAircraft.h"
 #include "FGMassBalance.h"
 #include "FGInertial.h"
-#include <input_output/FGPropertyManager.h>
+#include "input_output/FGPropertyManager.h"
+
+using namespace std;
 
 namespace JSBSim {
 

src/FDM/JSBSim/models/FGPropagate.h

@@ -38,11 +38,11 @@ SENTRY
 INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#include <models/FGModel.h>
+#include "models/FGModel.h"
-#include <math/FGColumnVector3.h>
+#include "math/FGColumnVector3.h"
-#include <math/FGLocation.h>
+#include "math/FGLocation.h"
-#include <math/FGQuaternion.h>
+#include "math/FGQuaternion.h"
-#include <math/FGMatrix33.h>
+#include "math/FGMatrix33.h"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 DEFINITIONS
@@ -538,6 +538,6 @@ private:
 }
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-#include <initialization/FGInitialCondition.h>
+#include "initialization/FGInitialCondition.h"
 
 #endif

src/FDM/JSBSim/models/FGPropulsion.cpp

@@ -45,15 +45,24 @@ INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #include "FGPropulsion.h"
-#include <models/propulsion/FGRocket.h>
+#include "FGState.h"
-#include <models/propulsion/FGTurbine.h>
+#include "models/FGFCS.h"
-#include <models/propulsion/FGPiston.h>
+#include "models/FGMassBalance.h"
-#include <models/propulsion/FGElectric.h>
+#include "models/propulsion/FGThruster.h"
-#include <models/propulsion/FGTurboProp.h>
+#include "models/propulsion/FGRocket.h"
-#include <input_output/FGPropertyManager.h>
+#include "models/propulsion/FGTurbine.h"
-#include <input_output/FGXMLParse.h>
+#include "models/propulsion/FGPiston.h"
-#include <math/FGColumnVector3.h>
+#include "models/propulsion/FGElectric.h"
+#include "models/propulsion/FGTurboProp.h"
+#include "models/propulsion/FGTank.h"
+#include "input_output/FGPropertyManager.h"
+#include "input_output/FGXMLParse.h"
+#include "math/FGColumnVector3.h"
+#include <iostream>
 #include <sstream>
+#include <cstdlib>
+
+using namespace std;
 
 namespace JSBSim {
 
@@ -255,6 +264,20 @@ bool FGPropulsion::Load(Element* el)
 
   FGModel::Load(el); // Perform base class Load.
 
+  // Process tank definitions first to establish the number of fuel tanks
+
+  Element* tank_element = el->FindElement("tank");
+  while (tank_element) {
+    Tanks.push_back(new FGTank(FDMExec, tank_element, numTanks));
+    if (Tanks.back()->GetType() == FGTank::ttFUEL) numFuelTanks++;
+    else if (Tanks.back()->GetType() == FGTank::ttOXIDIZER) numOxiTanks++;
+    else {cerr << "Unknown tank type specified." << endl; return false;}
+    numTanks++;
+    tank_element = el->FindNextElement("tank");
+  }
+  numSelectedFuelTanks = numFuelTanks;
+  numSelectedOxiTanks  = numOxiTanks;
+
   Element* engine_element = el->FindElement("engine");
   while (engine_element) {
     engine_filename = engine_element->GetAttributeValue("file");
@@ -303,20 +326,6 @@ bool FGPropulsion::Load(Element* el)
     ResetParser();
   }
 
-  // Process tank definitions
-
-  Element* tank_element = el->FindElement("tank");
-  while (tank_element) {
-    Tanks.push_back(new FGTank(FDMExec, tank_element, numTanks));
-    if (Tanks.back()->GetType() == FGTank::ttFUEL) numFuelTanks++;
-    else if (Tanks.back()->GetType() == FGTank::ttOXIDIZER) numOxiTanks++;
-    else {cerr << "Unknown tank type specified." << endl; return false;}
-    numTanks++;
-    tank_element = el->FindNextElement("tank");
-  }
-  numSelectedFuelTanks = numFuelTanks;
-  numSelectedOxiTanks  = numOxiTanks;
-
   CalculateTankInertias();
   if (!ThrottleAdded) FCS->AddThrottle(); // need to have at least one throttle
 
@@ -330,7 +339,7 @@ bool FGPropulsion::Load(Element* el)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-string FGPropulsion::FindEngineFullPathname(string engine_filename)
+string FGPropulsion::FindEngineFullPathname(const string& engine_filename)
 {
   string fullpath, localpath;
   string enginePath = FDMExec->GetEnginePath();
@@ -358,7 +367,7 @@ string FGPropulsion::FindEngineFullPathname(string engine_filename)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-ifstream* FGPropulsion::FindEngineFile(string engine_filename)
+ifstream* FGPropulsion::FindEngineFile(const string& engine_filename)
 {
   string fullpath, localpath;
   string enginePath = FDMExec->GetEnginePath();
@@ -383,7 +392,7 @@ ifstream* FGPropulsion::FindEngineFile(string engine_filename)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-string FGPropulsion::GetPropulsionStrings(string delimeter)
+string FGPropulsion::GetPropulsionStrings(const string& delimiter)
 {
   unsigned int i;
 
@@ -393,13 +402,13 @@ string FGPropulsion::GetPropulsionStrings(string delimeter)
 
   for (i=0; i<Engines.size(); i++) {
     if (firstime)  firstime = false;
-    else           PropulsionStrings += delimeter;
+    else           PropulsionStrings += delimiter;
 
-    PropulsionStrings += Engines[i]->GetEngineLabels(delimeter);
+    PropulsionStrings += Engines[i]->GetEngineLabels(delimiter);
   }
   for (i=0; i<Tanks.size(); i++) {
-    if (Tanks[i]->GetType() == FGTank::ttFUEL) buf << delimeter << "Fuel Tank " << i;
+    if (Tanks[i]->GetType() == FGTank::ttFUEL) buf << delimiter << "Fuel Tank " << i;
-    else if (Tanks[i]->GetType() == FGTank::ttOXIDIZER) buf << delimeter << "Oxidizer Tank " << i;
+    else if (Tanks[i]->GetType() == FGTank::ttOXIDIZER) buf << delimiter << "Oxidizer Tank " << i;
   }
 
   return PropulsionStrings;
@@ -407,7 +416,7 @@ string FGPropulsion::GetPropulsionStrings(string delimeter)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
-string FGPropulsion::GetPropulsionValues(string delimeter)
+string FGPropulsion::GetPropulsionValues(const string& delimiter)
 {
   unsigned int i;
 
@@ -417,12 +426,12 @@ string FGPropulsion::GetPropulsionValues(string delimeter)
 
   for (i=0; i<Engines.size(); i++) {
     if (firstime)  firstime = false;
-    else           PropulsionValues += delimeter;
+    else           PropulsionValues += delimiter;
 
-    PropulsionValues += Engines[i]->GetEngineValues(delimeter);
+    PropulsionValues += Engines[i]->GetEngineValues(delimiter);
   }
   for (i=0; i<Tanks.size(); i++) {
-    buf << delimeter;
+    buf << delimiter;
     buf << Tanks[i]->GetContents();
   }
 

src/FDM/JSBSim/models/FGPropulsion.h

@@ -39,13 +39,11 @@ INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #include <vector>
-#include <fstream>
+#include <iosfwd>
 
 #include "FGModel.h"
-#include <models/propulsion/FGEngine.h>
+#include "math/FGMatrix33.h"
-#include <models/propulsion/FGTank.h>
+#include "input_output/FGXMLFileRead.h"
-#include <math/FGMatrix33.h>
-#include <input_output/FGXMLFileRead.h>
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 DEFINITIONS
@@ -59,6 +57,9 @@ FORWARD DECLARATIONS
 
 namespace JSBSim {
 
+class FGTank;
+class FGEngine;
+
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 CLASS DOCUMENTATION
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
@@ -157,8 +158,8 @@ public:
   /** Sets up the engines as running */
   void InitRunning(int n);
 
-  string GetPropulsionStrings(string delimeter);
+  std::string GetPropulsionStrings(const std::string& delimiter);
-  string GetPropulsionValues(string delimeter);
+  std::string GetPropulsionValues(const std::string& delimiter);
 
   inline FGColumnVector3& GetForces(void)  {return vForces; }
   inline double GetForces(int n) const { return vForces(n);}
@@ -176,8 +177,8 @@ public:
   FGColumnVector3& GetTanksMoment(void);
   double GetTanksWeight(void);
 
-  ifstream* FindEngineFile(string filename);
+  std::ifstream* FindEngineFile(const std::string& filename);
-  string FindEngineFullPathname(string engine_filename);
+  std::string FindEngineFullPathname(const std::string& engine_filename);
   inline int GetActiveEngine(void) const {return ActiveEngine;}
   inline bool GetFuelFreeze(void) {return fuel_freeze;}
   double GetTotalFuelQuantity(void) const {return TotalFuelQuantity;}
@@ -190,8 +191,8 @@ public:
   FGMatrix33& CalculateTankInertias(void);
 
 private:
-  vector <FGEngine*>   Engines;
+  std::vector <FGEngine*>   Engines;
-  vector <FGTank*>     Tanks;
+  std::vector <FGTank*>     Tanks;
   unsigned int numSelectedFuelTanks;
   unsigned int numSelectedOxiTanks;
   unsigned int numFuelTanks;

src/FDM/JSBSim/models/atmosphere/FGMSIS.cpp

@@ -59,11 +59,11 @@ INCLUDES
 
 #include "FGMSIS.h"
 #include "FGState.h"
-#include <math.h>          /* maths functions */
+#include <cmath>          /* maths functions */
-#include <stdlib.h>        /* for malloc/free */
-#include <stdio.h>         /* for printf      */
 #include <iostream>        // for cout, endl
 
+using namespace std;
+
 namespace JSBSim {
 
 static const char *IdSrc = "$Id$";
@@ -322,7 +322,7 @@ double MSIS::dnet (double dd, double dm, double zhm, double xmm, double xm)
   double ylog;
   a  = zhm / (xmm-xm);
   if (!((dm>0) && (dd>0))) {
-    printf("dnet log error %e %e %e\n",dm,dd,xm);
+    cerr << "dnet log error " << dm << ' ' << dd << ' ' << xm << ' ' << endl;
     if ((dd==0) && (dm==0))
       dd=1;
     if (dm==0)
@@ -400,7 +400,7 @@ void MSIS::splint (double *xa, double *ya, double *y2a, int n, double x, double
   }
   h = xa[khi] - xa[klo];
   if (h==0.0)
-    printf("bad XA input to splint");
+    cerr << "bad XA input to splint" << endl;
   a = (xa[khi] - x)/h;
   b = (x - xa[klo])/h;
   yi = a * ya[klo] + b * ya[khi] + ((a*a*a - a) * y2a[klo] + (b*b*b - b) * y2a[khi]) * h * h/6.0;
@@ -422,9 +422,9 @@ void MSIS::spline (double *x, double *y, int n, double yp1, double ypn, double *
   double *u;
   double sig, p, qn, un;
   int i, k;
-  u=(double*)malloc(sizeof(double)*n);
+  u=new double[n];
   if (u==NULL) {
-    printf("Out Of Memory in spline - ERROR");
+    cerr << "Out Of Memory in spline - ERROR" << endl;
     return;
   }
   if (yp1>0.99E30) {
@@ -451,7 +451,7 @@ void MSIS::spline (double *x, double *y, int n, double yp1, double ypn, double *
   for (k=n-2;k>=0;k--)
     y2[k] = y2[k] * y2[k+1] + u[k];
 
-  free(u);
+  delete u;
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -964,7 +964,7 @@ double MSIS::glob7s(double *p, struct nrlmsise_input *input,
   if (p[99]==0)
     p[99]=pset;
   if (p[99]!=pset) {
-    printf("Wrong parameter set for glob7s\n");
+    cerr << "Wrong parameter set for glob7s" << endl;
     return -1;
   }
   for (j=0;j<14;j++)
@@ -1247,7 +1247,7 @@ void MSIS::ghp7(struct nrlmsise_input *input, struct nrlmsise_flags *flags,
     if (sqrt(diff*diff)<test)
       return;
     if (l==ltest) {
-      printf("ERROR: ghp7 not converging for press %e, diff %e",press,diff);
+      cerr << "ERROR: ghp7 not converging for press " << press << ", diff " << diff << endl;
       return;
     }
     xm = output->d[5] / xn / 1.66E-24;

src/FDM/JSBSim/models/atmosphere/FGMSIS.h

@@ -40,7 +40,7 @@ SENTRY
 INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#include <models/FGAtmosphere.h>
+#include "models/FGAtmosphere.h"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 DEFINITIONS

src/FDM/JSBSim/models/atmosphere/FGMars.cpp

@@ -43,6 +43,9 @@ INCLUDES
 
 #include "FGMars.h"
 #include "FGState.h"
+#include <iostream>
+
+using namespace std;
 
 namespace JSBSim {
 

src/FDM/JSBSim/models/atmosphere/FGMars.h

@@ -38,7 +38,7 @@ SENTRY
 INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#include <models/FGAtmosphere.h>
+#include "models/FGAtmosphere.h"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 DEFINITIONS

src/FDM/JSBSim/models/flight_control/FGAccelerometer.cpp

@@ -38,6 +38,10 @@ INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #include "FGAccelerometer.h"
+#include <iostream>
+#include <cstdlib>
+
+using namespace std;
 
 namespace JSBSim {
 
@@ -48,7 +52,9 @@ static const char *IdHdr = ID_ACCELEROMETER;
 CLASS IMPLEMENTATION
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-FGAccelerometer::FGAccelerometer(FGFCS* fcs, Element* element) : FGSensor(fcs, element)
+FGAccelerometer::FGAccelerometer(FGFCS* fcs, Element* element)
+  : FGSensor(fcs, element),
+    FGSensorOrientation(element)
 {
   Propagate = fcs->GetExec()->GetPropagate();
   MassBalance = fcs->GetExec()->GetMassBalance();
@@ -60,27 +66,6 @@ FGAccelerometer::FGAccelerometer(FGFCS* fcs, Element* element) : FGSensor(fcs, e
 
   vRadius = MassBalance->StructuralToBody(vLocation);
 
-  Element* orient_element = element->FindElement("orientation");
-  if (orient_element) vOrient = orient_element->FindElementTripletConvertTo("RAD");
-  else {cerr << "No orientation given for accelerometer. " << endl;}
-
-  Element* axis_element = element->FindElement("axis");
-  if (axis_element) {
-    string sAxis = element->FindElementValue("axis");
-    if (sAxis == "X" || sAxis == "x") {
-      axis = 1;
-    } else if (sAxis == "Y" || sAxis == "y") {
-      axis = 2;
-    } else if (sAxis == "Z" || sAxis == "z") {
-      axis = 3;
-    } else {
-      cerr << "  Incorrect/no axis specified for accelerometer; assuming X axis" << endl;
-      axis = 1;
-    }
-  }
-
-  CalculateTransformMatrix();
-
   Debug(0);
 }
 
@@ -96,7 +81,7 @@ FGAccelerometer::~FGAccelerometer()
 bool FGAccelerometer::Run(void )
 {
   // There is no input assumed. This is a dedicated acceleration sensor.
-  
+
   vRadius = MassBalance->StructuralToBody(vLocation);
     
   //gravitational forces
@@ -112,59 +97,11 @@ bool FGAccelerometer::Run(void )
 
   Input = vAccel(axis);
 
-  Output = Input; // perfect accelerometer
+  ProcessSensorSignal();
 
-  // Degrade signal as specified
-
-  if (fail_stuck) {
-    Output = PreviousOutput;
-    return true;
-  }
-
-  if (lag != 0.0)            Lag();       // models accelerometer lag
-  if (noise_variance != 0.0) Noise();     // models noise
-  if (drift_rate != 0.0)     Drift();     // models drift over time
-  if (bias != 0.0)           Bias();      // models a finite bias
-  if (gain != 0.0)           Gain();      // models a gain
-
-  if (fail_low)  Output = -HUGE_VAL;
-  if (fail_high) Output =  HUGE_VAL;
-
-  if (bits != 0)             Quantize();  // models quantization degradation
-//  if (delay != 0.0)          Delay();     // models system signal transport latencies
-
-  Clip(); // Is it right to clip an accelerometer?
   return true;
 }
 
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGAccelerometer::CalculateTransformMatrix(void)
-{
-  double cp,sp,cr,sr,cy,sy;
-
-  cp=cos(vOrient(ePitch)); sp=sin(vOrient(ePitch));
-  cr=cos(vOrient(eRoll));  sr=sin(vOrient(eRoll));
-  cy=cos(vOrient(eYaw));   sy=sin(vOrient(eYaw));
-
-  mT(1,1) =  cp*cy;
-  mT(1,2) =  cp*sy;
-  mT(1,3) = -sp;
-
-  mT(2,1) = sr*sp*cy - cr*sy;
-  mT(2,2) = sr*sp*sy + cr*cy;
-  mT(2,3) = sr*cp;
-
-  mT(3,1) = cr*sp*cy + sr*sy;
-  mT(3,2) = cr*sp*sy - sr*cy;
-  mT(3,3) = cr*cp;
-
-  // This transform is different than for FGForce, where we want a native nozzle
-  // force in body frame. Here we calculate the body frame accel and want it in
-  // the transformed accelerometer frame. So, the next line is commented out.
-  // mT = mT.Inverse();
-}
-
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 //    The bitmasked value choices are as follows:
 //    unset: In this case (the default) JSBSim would only print

src/FDM/JSBSim/models/flight_control/FGAccelerometer.h

@@ -38,12 +38,13 @@ INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #include "FGSensor.h"
-#include <input_output/FGXMLElement.h>
+#include "input_output/FGXMLElement.h"
 #include "models/FGPropagate.h"
 #include "models/FGMassBalance.h"
 #include "models/FGInertial.h"
 #include "math/FGColumnVector3.h"
 #include "math/FGMatrix33.h"
+#include "FGSensorOrientation.h"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 DEFINITIONS
@@ -116,7 +117,7 @@ time.
 CLASS DECLARATION
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-class FGAccelerometer  : public FGSensor
+class FGAccelerometer  : public FGSensor, public FGSensorOrientation
 {
 public:
   FGAccelerometer(FGFCS* fcs, Element* element);
@@ -129,12 +130,8 @@ private:
   FGMassBalance* MassBalance;
   FGInertial* Inertial;
   FGColumnVector3 vLocation;
-  FGColumnVector3 vOrient;
   FGColumnVector3 vRadius;
   FGColumnVector3 vAccel;
-  FGMatrix33 mT;
-  void CalculateTransformMatrix(void);
-  int axis;
   
   void Debug(int from);
 };

src/FDM/JSBSim/models/flight_control/FGActuator.cpp

@@ -39,6 +39,8 @@ INCLUDES
 
 #include "FGActuator.h"
 
+using namespace std;
+
 namespace JSBSim {
 
 static const char *IdSrc = "$Id$";
@@ -52,7 +54,6 @@ CLASS IMPLEMENTATION
 FGActuator::FGActuator(FGFCS* fcs, Element* element) : FGFCSComponent(fcs, element)
 {
   double denom;
-  dt = fcs->GetDt();
 
   // inputs are read from the base class constructor
 
@@ -101,8 +102,6 @@ FGActuator::~FGActuator()
 
 bool FGActuator::Run(void )
 {
-  dt = fcs->GetDt();
-
   Input = InputNodes[0]->getDoubleValue() * InputSigns[0];
 
   if (fail_zero) Input = 0;
@@ -237,7 +236,10 @@ void FGActuator::Debug(int from)
       else
         cout << "      INPUT: " << InputNodes[0]->getName() << endl;
 
-      if (IsOutput) cout << "      OUTPUT: " << OutputNode->getName() << endl;
+      if (IsOutput) {
+        for (unsigned int i=0; i<OutputNodes.size(); i++)
+          cout << "      OUTPUT: " << OutputNodes[i]->getName() << endl;
+      }
       if (bias != 0.0) cout << "      Bias: " << bias << endl;
       if (rate_limit != 0) cout << "      Rate limit: " << rate_limit << endl;
       if (lag != 0) cout << "      Actuator lag: " << lag << endl;

src/FDM/JSBSim/models/flight_control/FGActuator.h

@@ -38,7 +38,7 @@ INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #include "FGFCSComponent.h"
-#include <input_output/FGXMLElement.h>
+#include "input_output/FGXMLElement.h"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 DEFINITIONS
@@ -144,7 +144,6 @@ public:
   inline bool GetFailStuck(void) const {return fail_stuck;}
   
 private:
-  double dt;
   double span;
   double bias;
   double rate_limit;

src/FDM/JSBSim/models/flight_control/FGDeadBand.cpp

@@ -38,6 +38,11 @@ INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #include "FGDeadBand.h"
+#include "input_output/FGXMLElement.h"
+#include "input_output/FGPropertyManager.h"
+#include <iostream>
+
+using namespace std;
 
 namespace JSBSim {
 
@@ -144,7 +149,10 @@ void FGDeadBand::Debug(int from)
         cout << "      DEADBAND WIDTH: " << width << endl;
       }
       cout << "      GAIN: " << gain << endl;
-      if (IsOutput) cout << "      OUTPUT: " << OutputNode->getName() << endl;
+      if (IsOutput) {
+        for (unsigned int i=0; i<OutputNodes.size(); i++)
+          cout << "      OUTPUT: " << OutputNodes[i]->getName() << endl;
+      }
     }
   }
   if (debug_lvl & 2 ) { // Instantiation/Destruction notification

src/FDM/JSBSim/models/flight_control/FGDeadBand.h

@@ -38,7 +38,6 @@ INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #include "FGFCSComponent.h"
-#include <input_output/FGXMLElement.h>
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 DEFINITIONS
@@ -53,6 +52,8 @@ FORWARD DECLARATIONS
 namespace JSBSim {
 
 class FGFCS;
+class Element;
+class FGPropertyManager;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 CLASS DOCUMENTATION

src/FDM/JSBSim/models/flight_control/FGFCSComponent.cpp

@@ -38,6 +38,12 @@ INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #include "FGFCSComponent.h"
+#include "input_output/FGPropertyManager.h"
+#include "input_output/FGXMLElement.h"
+#include <iostream>
+#include <cstdlib>
+
+using namespace std;
 
 namespace JSBSim {
 
@@ -52,11 +58,13 @@ FGFCSComponent::FGFCSComponent(FGFCS* _fcs, Element* element) : fcs(_fcs)
 {
   Element *input_element, *clip_el;
   Input = Output = clipmin = clipmax = 0.0;
-  OutputNode = treenode = 0;
+  treenode = 0;
+  delay = index = 0;
   ClipMinPropertyNode = ClipMaxPropertyNode = 0;
   clipMinSign = clipMaxSign = 1.0;
   IsOutput   = clip = false;
   string input, clip_string;
+  dt = fcs->GetDt();
 
   PropertyManager = fcs->GetPropertyManager();
   if        (element->GetName() == string("lag_filter")) {
@@ -91,6 +99,8 @@ FGFCSComponent::FGFCSComponent(FGFCS* _fcs, Element* element) : fcs(_fcs)
     Type = "SENSOR";
   } else if (element->GetName() == string("accelerometer")) {
     Type = "ACCELEROMETER";
+  } else if (element->GetName() == string("magnetometer")) {
+    Type = "MAGNETOMETER";
   } else if (element->GetName() == string("gyro")) {
     Type = "GYRO";
   } else if (element->GetName() == string("actuator")) {
@@ -123,13 +133,36 @@ FGFCSComponent::FGFCSComponent(FGFCS* _fcs, Element* element) : fcs(_fcs)
     input_element = element->FindNextElement("input");
   }
 
-  if (element->FindElement("output")) {
+  Element *out_elem = element->FindElement("output");
+  while (out_elem) {
     IsOutput = true;
-    OutputNode = PropertyManager->GetNode( element->FindElementValue("output"), true );
+    string output_node_name = out_elem->GetDataLine();
+    FGPropertyManager* OutputNode = PropertyManager->GetNode( output_node_name, true );
+    OutputNodes.push_back(OutputNode);
     if (!OutputNode) {
-      cerr << endl << "  Unable to process property: " << element->FindElementValue("output") << endl;
+      cerr << endl << "  Unable to process property: " << output_node_name << endl;
       throw(string("Invalid output property name in flight control definition"));
     }
+    out_elem = element->FindNextElement("output");
+  }
+
+  Element* delay_elem = element->FindElement("delay");
+  if ( delay_elem ) {
+    delay = (unsigned int)delay_elem->GetDataAsNumber();
+    string delayType = delay_elem->GetAttributeValue("type");
+    if (delayType.length() > 0) {
+      if (delayType == "time") {
+        delay = (int)(delay / dt);
+      } else if (delayType == "frames") {
+        // no op. the delay type of "frames" is assumed and is the default.
+      } else {
+        cerr << "Unallowed delay type" << endl;
+      }
+    } else {
+      delay = (int)(delay / dt);
+    }
+    output_array.resize(delay);
+    for (int i=0; i<delay; i++) output_array[i] = 0.0;
   }
 
   clip_el = element->FindElement("clipto");
@@ -171,7 +204,7 @@ FGFCSComponent::~FGFCSComponent()
 
 void FGFCSComponent::SetOutput(void)
 {
-  OutputNode->setDoubleValue(Output);
+  for (unsigned int i=0; i<OutputNodes.size(); i++) OutputNodes[i]->setDoubleValue(Output);
 }
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
@@ -183,6 +216,16 @@ bool FGFCSComponent::Run(void)
 
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
+void FGFCSComponent::Delay(void)
+{
+  output_array[index] = Output;
+  if (index == delay-1) index = 0;
+  else index++;
+  Output = output_array[index];
+}
+
+//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+
 void FGFCSComponent::Clip(void)
 {
   if (clip) {
@@ -258,6 +301,8 @@ void FGFCSComponent::Debug(int from)
           cout << "      Maximum limit: " << clipmax << endl;
         }
       }  
+      if (delay > 0) cout <<"      Frame delay: " << delay
+                                   << " frames (" << delay*dt << " sec)" << endl;
     }
   }
   if (debug_lvl & 2 ) { // Instantiation/Destruction notification

src/FDM/JSBSim/models/flight_control/FGFCSComponent.h

@@ -37,9 +37,7 @@ SENTRY
 INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-#include <FGJSBBase.h>
+#include "FGJSBBase.h"
-#include <input_output/FGPropertyManager.h>
-#include <input_output/FGXMLElement.h>
 #include <string>
 #include <vector>
 
@@ -49,9 +47,6 @@ DEFINITIONS
 
 #define ID_FCSCOMPONENT "$Id$"
 
-using std::string;
-using std::vector;
-
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 FORWARD DECLARATIONS
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
@@ -59,6 +54,8 @@ FORWARD DECLARATIONS
 namespace JSBSim {
 
 class FGFCS;
+class FGPropertyManager;
+class Element;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 CLASS DOCUMENTATION
@@ -101,30 +98,34 @@ public:
 
   virtual bool Run(void);
   virtual void SetOutput(void);
-  inline double GetOutput (void) const {return Output;}
+  double GetOutput (void) const {return Output;}
-  inline FGPropertyManager* GetOutputNode(void) { return OutputNode; }
+  std::string GetName(void) const {return Name;}
-  inline string GetName(void) const {return Name;}
+  std::string GetType(void) const { return Type; }
-  inline string GetType(void) const { return Type; }
   virtual double GetOutputPct(void) const { return 0; }
 
 protected:
   FGFCS* fcs;
   FGPropertyManager* PropertyManager;
   FGPropertyManager* treenode;
-  FGPropertyManager* OutputNode;
+  std::vector <FGPropertyManager*> OutputNodes;
   FGPropertyManager* ClipMinPropertyNode;
   FGPropertyManager* ClipMaxPropertyNode;
-  vector <FGPropertyManager*> InputNodes;
+  std::vector <FGPropertyManager*> InputNodes;
-  vector <float> InputSigns;
+  std::vector <float> InputSigns;
-  string Type;
+  std::vector <double> output_array;
-  string Name;
+  std::string Type;
+  std::string Name;
   double Input;
   double Output;
   double clipmax, clipmin;
+  int delay;
+  int index;
   float clipMinSign, clipMaxSign;
+  double dt;
   bool IsOutput;
   bool clip;
 
+  void Delay(void);
   void Clip(void);
   virtual void bind();
   virtual void Debug(int from);

src/FDM/JSBSim/models/flight_control/FGFCSFunction.cpp

@@ -38,6 +38,10 @@ INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #include "FGFCSFunction.h"
+#include <cstdlib>
+#include <iostream>
+
+using namespace std;
 
 namespace JSBSim {
 
@@ -119,7 +123,10 @@ void FGFCSFunction::Debug(int from)
       if (InputNodes.size()>0)
         cout << "      INPUT: " << InputNodes[0]->getName() << endl;
 //    cout << "      Function: " << endl;
-      if (IsOutput) cout << "      OUTPUT: " << OutputNode->getName() << endl;
+      if (IsOutput) {
+        for (unsigned int i=0; i<OutputNodes.size(); i++)
+          cout << "      OUTPUT: " << OutputNodes[i]->getName() << endl;
+      }
     }
   }
   if (debug_lvl & 2 ) { // Instantiation/Destruction notification

src/FDM/JSBSim/models/flight_control/FGFCSFunction.h

@@ -38,8 +38,8 @@ INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #include "FGFCSComponent.h"
-#include <input_output/FGXMLElement.h>
+#include "input_output/FGXMLElement.h"
-#include <math/FGFunction.h>
+#include "math/FGFunction.h"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 DEFINITIONS

src/FDM/JSBSim/models/flight_control/FGFilter.cpp

@@ -38,6 +38,13 @@ INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #include "FGFilter.h"
+#include "input_output/FGXMLElement.h"
+#include "input_output/FGPropertyManager.h"
+
+#include <iostream>
+#include <string>
+
+using namespace std;
 
 namespace JSBSim {
 
@@ -50,14 +57,14 @@ CLASS IMPLEMENTATION
 
 FGFilter::FGFilter(FGFCS* fcs, Element* element) : FGFCSComponent(fcs, element)
 {
-  dt = fcs->GetState()->Getdt();
   Trigger = 0;
   DynamicFilter = false;
 
   C[1] = C[2] = C[3] = C[4] = C[5] = C[6] = 0.0;
-  for (int i=0; i<7; i++) {
+  for (int i=1; i<7; i++) {
     PropertySign[i] = 1.0;
     PropertyNode[i] = 0L;
+    ReadFilterCoefficients(element, i);
   }
 
   if      (Type == "LAG_FILTER")          FilterType = eLag        ;
@@ -67,13 +74,6 @@ FGFilter::FGFilter(FGFCS* fcs, Element* element) : FGFCSComponent(fcs, element)
   else if (Type == "INTEGRATOR")          FilterType = eIntegrator ;
   else                                    FilterType = eUnknown    ;
 
-  ReadFilterCoefficients(element, 1);
-  ReadFilterCoefficients(element, 2);
-  ReadFilterCoefficients(element, 3);
-  ReadFilterCoefficients(element, 4);
-  ReadFilterCoefficients(element, 5);
-  ReadFilterCoefficients(element, 6);
-
   if (element->FindElement("trigger")) {
     Trigger =  PropertyManager->GetNode(element->FindElementValue("trigger"));
   }
@@ -98,13 +98,13 @@ FGFilter::~FGFilter()
 
 void FGFilter::ReadFilterCoefficients(Element* element, int index)
 {
-  char buf[3];
+  // index is known to be 1-7. 
-  sprintf(buf, "c%d", index);
+  // A stringstream would be overkill, but also trying to avoid sprintf
-  string coefficient = string(buf);
+  string coefficient = "c0";
-  string property_string="";
+  coefficient[1] += index;
-
+  
   if ( element->FindElement(coefficient) ) {
-    property_string = element->FindElementValue(coefficient);
+    string property_string = element->FindElementValue(coefficient);
     if (!is_number(property_string)) { // property
       if (property_string[0] == '-') {
        PropertySign[index] = -1.0;
@@ -323,8 +323,13 @@ void FGFilter::Debug(int from)
           if (PropertyNode[1] == 0L) cout << "      C[1]: " << C[1] << endl;
           else cout << "      C[1] is the value of property: " << sgn << PropertyNode[1]->GetName() << endl;
           break;
+        case eUnknown:
+          break;
        } 
-      if (IsOutput) cout << "      OUTPUT: " << OutputNode->getName() << endl;
+      if (IsOutput) {
+        for (unsigned int i=0; i<OutputNodes.size(); i++)
+          cout << "      OUTPUT: " << OutputNodes[i]->getName() << endl;
+      }
     }
   }
   if (debug_lvl & 2 ) { // Instantiation/Destruction notification

src/FDM/JSBSim/models/flight_control/FGFilter.h

@@ -38,7 +38,6 @@ INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #include "FGFCSComponent.h"
-#include <input_output/FGXMLElement.h>
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 DEFINITIONS
@@ -52,6 +51,10 @@ FORWARD DECLARATIONS
 
 namespace JSBSim {
 
+class Element;
+class FGPropertyManager;
+class FGFCS;
+
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 CLASS DOCUMENTATION
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
@@ -249,7 +252,6 @@ public:
   enum {eLag, eLeadLag, eOrder2, eWashout, eIntegrator, eUnknown} FilterType;
 
 private:
-  double dt;
   double ca;
   double cb;
   double cc;

src/FDM/JSBSim/models/flight_control/FGGain.cpp

@@ -38,6 +38,12 @@ INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #include "FGGain.h"
+#include "input_output/FGXMLElement.h"
+#include <iostream>
+#include <string>
+#include <cstdlib>
+
+using namespace std;
 
 namespace JSBSim {
 
@@ -212,7 +218,10 @@ void FGGain::Debug(int from)
       } else {
         cout << "      GAIN: " << Gain << endl;
       }
-      if (IsOutput) cout << "      OUTPUT: " << OutputNode->getName() << endl;
+      if (IsOutput) {
+        for (unsigned int i=0; i<OutputNodes.size(); i++)
+          cout << "      OUTPUT: " << OutputNodes[i]->getName() << endl;
+      }
       if (Type == "AEROSURFACE_SCALE") {
         cout << "      In/Out Mapping:" << endl;
         cout << "        Input MIN: " << InMin << endl;

src/FDM/JSBSim/models/flight_control/FGGain.h

@@ -38,11 +38,7 @@ INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #include "FGFCSComponent.h"
-#include <string>
+#include "math/FGTable.h"
-#include <input_output/FGXMLElement.h>
-#include <math/FGTable.h>
-
-using std::string;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 DEFINITIONS
@@ -57,6 +53,7 @@ FORWARD DECLARATIONS
 namespace JSBSim {
 
 class FGFCS;
+class Element;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 CLASS DOCUMENTATION

src/FDM/JSBSim/models/flight_control/FGGradient.cpp

@@ -38,6 +38,9 @@ INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #include "FGGradient.h"
+#include <iostream>
+
+using namespace std;
 
 namespace JSBSim {
 

src/FDM/JSBSim/models/flight_control/FGGradient.h

@@ -38,7 +38,7 @@ INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #include "FGFCSComponent.h"
-#include <input_output/FGXMLElement.h>
+#include "input_output/FGXMLElement.h"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 DEFINITIONS

src/FDM/JSBSim/models/flight_control/FGGyro.cpp

@@ -38,6 +38,9 @@ INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #include "FGGyro.h"
+#include <iostream>
+
+using namespace std;
 
 namespace JSBSim {
 
@@ -48,31 +51,11 @@ static const char *IdHdr = ID_GYRO;
 CLASS IMPLEMENTATION
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-FGGyro::FGGyro(FGFCS* fcs, Element* element) : FGSensor(fcs, element)
+FGGyro::FGGyro(FGFCS* fcs, Element* element) : FGSensor(fcs, element),
+                                               FGSensorOrientation(element)
 {
   Propagate = fcs->GetExec()->GetPropagate();
   
-  Element* orient_element = element->FindElement("orientation");
-  if (orient_element) vOrient = orient_element->FindElementTripletConvertTo("RAD");
-  else {cerr << "No orientation given for gyro. " << endl;}
-
-  Element* axis_element = element->FindElement("axis");
-  if (axis_element) {
-    string sAxis = element->FindElementValue("axis");
-    if (sAxis == "ROLL" || sAxis == "roll") {
-      axis = 1;
-    } else if (sAxis == "PITCH" || sAxis == "pitch") {
-      axis = 2;
-    } else if (sAxis == "YAW" || sAxis == "yaw") {
-      axis = 3;
-    } else {
-      cerr << "  Incorrect/no axis specified for gyro; assuming Roll axis" << endl;
-      axis = 1;
-    }
-  }
-
-  CalculateTransformMatrix();
-
   Debug(0);
 }
 
@@ -94,59 +77,11 @@ bool FGGyro::Run(void )
 
   Input = vAccel(axis);
 
-  Output = Input; // perfect gyro
+  ProcessSensorSignal();
 
-  // Degrade signal as specified
-
-  if (fail_stuck) {
-    Output = PreviousOutput;
-    return true;
-  }
-
-  if (lag != 0.0)            Lag();       // models gyro lag
-  if (noise_variance != 0.0) Noise();     // models noise
-  if (drift_rate != 0.0)     Drift();     // models drift over time
-  if (bias != 0.0)           Bias();      // models a finite bias
-  if (gain != 0.0)           Gain();      // models a gain
-
-  if (fail_low)  Output = -HUGE_VAL;
-  if (fail_high) Output =  HUGE_VAL;
-
-  if (bits != 0)             Quantize();  // models quantization degradation
-//  if (delay != 0.0)          Delay();     // models system signal transport latencies
-
-  Clip(); // Is it right to clip a gyro?
   return true;
 }
 
-//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-
-void FGGyro::CalculateTransformMatrix(void)
-{
-  double cp,sp,cr,sr,cy,sy;
-
-  cp=cos(vOrient(ePitch)); sp=sin(vOrient(ePitch));
-  cr=cos(vOrient(eRoll));  sr=sin(vOrient(eRoll));
-  cy=cos(vOrient(eYaw));   sy=sin(vOrient(eYaw));
-
-  mT(1,1) =  cp*cy;
-  mT(1,2) =  cp*sy;
-  mT(1,3) = -sp;
-
-  mT(2,1) = sr*sp*cy - cr*sy;
-  mT(2,2) = sr*sp*sy + cr*cy;
-  mT(2,3) = sr*cp;
-
-  mT(3,1) = cr*sp*cy + sr*sy;
-  mT(3,2) = cr*sp*sy - sr*cy;
-  mT(3,3) = cr*cp;
-
-  // This transform is different than for FGForce, where we want a native nozzle
-  // force in body frame. Here we calculate the body frame accel and want it in
-  // the transformed gyro frame. So, the next line is commented out.
-  // mT = mT.Inverse();
-}
-
 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 //    The bitmasked value choices are as follows:
 //    unset: In this case (the default) JSBSim would only print

src/FDM/JSBSim/models/flight_control/FGGyro.h

@@ -38,12 +38,13 @@ INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #include "FGSensor.h"
-#include <input_output/FGXMLElement.h>
+#include "input_output/FGXMLElement.h"
 #include "models/FGPropagate.h"
 #include "models/FGMassBalance.h"
 #include "models/FGInertial.h"
 #include "math/FGColumnVector3.h"
 #include "math/FGMatrix33.h"
+#include "FGSensorOrientation.h"
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 DEFINITIONS
@@ -116,7 +117,7 @@ time.
 CLASS DECLARATION
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
-class FGGyro  : public FGSensor
+class FGGyro  : public FGSensor, public FGSensorOrientation
 {
 public:
   FGGyro(FGFCS* fcs, Element* element);
@@ -126,11 +127,8 @@ public:
 
 private:
   FGPropagate* Propagate;
-  FGColumnVector3 vOrient;
   FGColumnVector3 vAccel;
-  FGMatrix33 mT;
   void CalculateTransformMatrix(void);
-  int axis;
   
   void Debug(int from);
 };

src/FDM/JSBSim/models/flight_control/FGKinemat.cpp

@@ -38,8 +38,11 @@ INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #include "FGKinemat.h"
-#include <math.h>
+#include "input_output/FGXMLElement.h"
-#include <float.h>
+#include <iostream>
+#include <cstdlib>
+
+using namespace std;
 
 namespace JSBSim {
 
@@ -98,13 +101,13 @@ FGKinemat::~FGKinemat()
 
 bool FGKinemat::Run(void )
 {
-  double dt = fcs->GetState()->Getdt();
+  double dt0 = dt;
 
   Input = InputNodes[0]->getDoubleValue() * InputSigns[0];
 
   if (DoScale) Input *= Detents[NumDetents-1];
 
-  if (IsOutput) Output = OutputNode->getDoubleValue();
+  if (IsOutput) Output = OutputNodes[0]->getDoubleValue();
 
   if (Input < Detents[0])
     Input = Detents[0];
@@ -113,7 +116,7 @@ bool FGKinemat::Run(void )
 
   // Process all detent intervals the movement traverses until either the
   // final value is reached or the time interval has finished.
-  while ( 0.0 < dt && !EqualToRoundoff(Input, Output) ) {
+  while ( dt0 > 0.0 && !EqualToRoundoff(Input, Output) ) {
 
     // Find the area where Output is in
     int ind;
@@ -137,8 +140,8 @@ bool FGKinemat::Run(void )
       double ThisDt = fabs((ThisInput-Output)/Rate);
 
       // and clip to the timestep size
-      if (dt < ThisDt) {
+      if (dt0 < ThisDt) {
-        ThisDt = dt;
+        ThisDt = dt0;
         if (Output < Input)
           Output += ThisDt*Rate;
         else
@@ -148,7 +151,7 @@ bool FGKinemat::Run(void )
         // is met even in inexact arithmetics ...
         Output = ThisInput;
 
-      dt -= ThisDt;
+      dt0 -= ThisDt;
     }
   }
 
@@ -190,7 +193,10 @@ void FGKinemat::Debug(int from)
       for (int i=0;i<NumDetents;i++) {
         cout << "        " << Detents[i] << " " << TransitionTimes[i] << endl;
       }
-      if (IsOutput) cout << "      OUTPUT: " << OutputNode->getName() << endl;
+      if (IsOutput) {
+        for (unsigned int i=0; i<OutputNodes.size(); i++)
+          cout << "      OUTPUT: " << OutputNodes[i]->getName() << endl;
+      }
       if (!DoScale) cout << "      NOSCALE" << endl;
     }
   }

src/FDM/JSBSim/models/flight_control/FGKinemat.h

@@ -38,12 +38,7 @@ INCLUDES
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 
 #include "FGFCSComponent.h"
-#include <input_output/FGXMLElement.h>
 #include <vector>
-#include <string>
-
-using std::vector;
-using std::string;
 
 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 DEFINITIONS
@@ -134,8 +129,8 @@ public:
   bool Run (void);
 
 private:
-  vector<double> Detents;
+  std::vector<double> Detents;
-  vector<double> TransitionTimes;
+  std::vector<double> TransitionTimes;
   int NumDetents;
   double OutputPct;
   bool  DoScale;