144 lines
4.3 KiB
C++
144 lines
4.3 KiB
C++
/*******************************************************************************
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Header: FGState.h
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Author: Jon S. Berndt
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Date started: 11/17/98
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------------- Copyright (C) 1999 Jon S. Berndt (jsb@hal-pc.org) -------------
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This program is free software; you can redistribute it and/or modify it under
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the terms of the GNU General Public License as published by the Free Software
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Foundation; either version 2 of the License, or (at your option) any later
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version.
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This program is distributed in the hope that it will be useful, but WITHOUT
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ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
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details.
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You should have received a copy of the GNU General Public License along with
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this program; if not, write to the Free Software Foundation, Inc., 59 Temple
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Place - Suite 330, Boston, MA 02111-1307, USA.
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Further information about the GNU General Public License can also be found on
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the world wide web at http://www.gnu.org.
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FUNCTIONAL DESCRIPTION
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--------------------------------------------------------------------------------
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Based on Flightgear code, which is based on LaRCSim. This class wraps all
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global state variables (such as velocity, position, orientation, etc.).
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HISTORY
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--------------------------------------------------------------------------------
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11/17/98 JSB Created
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********************************************************************************
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SENTRY
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*******************************************************************************/
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#ifndef FGSTATE_H
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#define FGSTATE_H
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/*******************************************************************************
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INCLUDES
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*******************************************************************************/
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#ifdef FGFS
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# include <simgear/compiler.h>
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# include STL_STRING
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# ifdef FG_HAVE_STD_INCLUDES
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# include <fstream>
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# else
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# include <fstream.h>
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# endif
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FG_USING_STD(string);
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#else
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# include <string>
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# include <fstream>
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#endif
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#include <map>
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#include "FGDefs.h"
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#include "FGInitialCondition.h"
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#include "FGMatrix.h"
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/*******************************************************************************
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DEFINES
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*******************************************************************************/
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using namespace std;
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/*******************************************************************************
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CLASS DECLARATION
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*******************************************************************************/
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class FGFDMExec;
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class FGState
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{
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public:
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FGState(FGFDMExec*);
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~FGState(void);
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bool Reset(string, string, string);
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void Initialize(float, float, float, float, float, float, float, float, float);
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void Initialize(FGInitialCondition *FGIC);
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bool StoreData(string);
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inline float Getadot(void) {return adot;}
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inline float Getbdot(void) {return bdot;}
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inline float GetLocalAltitudeOverRunway(void) {return LocalAltitudeOverRunway;}
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inline float Geta(void) {return a;}
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inline float Getsim_time(void) {return sim_time;}
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inline float Getdt(void) {return dt;}
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float GetParameter(int val_idx);
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float GetParameter(string val_string);
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int GetParameterIndex(string val_string);
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inline void Setadot(float tt) {adot = tt;}
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inline void Setbdot(float tt) {bdot = tt;}
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inline void SetLocalAltitudeOverRunway(float tt) {LocalAltitudeOverRunway = tt;}
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inline void Seta(float tt) {a = tt;}
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inline float Setsim_time(float tt) {sim_time = tt; return sim_time;}
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inline void Setdt(float tt) {dt = tt;}
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void SetParameter(int, float);
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inline float IncrTime(void) {sim_time+=dt;return sim_time;}
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void InitMatrices(float phi, float tht, float psi);
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void CalcMatrices(void);
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void IntegrateQuat(FGColumnVector vPQR, int rate);
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FGColumnVector CalcEuler(void);
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FGMatrix GetTs2b(float alpha, float beta);
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FGMatrix GetTl2b(void) {return mTl2b;}
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FGMatrix GetTb2l(void) {return mTb2l;}
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private:
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float adot, bdot; // alpha dot and beta dot
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float a; // speed of sound
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float sim_time, dt;
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FGFDMExec* FDMExec;
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float LocalAltitudeOverRunway;
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FGMatrix mTb2l;
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FGMatrix mTl2b;
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FGMatrix mTs2b;
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FGColumnVector vQtrn;
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typedef map<string, long> CoeffMap;
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CoeffMap coeffdef;
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protected:
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enum {ePhi=1, eTht, ePsi};
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enum {eP=1, eQ, eR};
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};
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/******************************************************************************/
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#endif
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