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flightgear/src/FDM/JSBSim/FGState.h

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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
Header: FGState.h
Author: Jon S. Berndt
Date started: 11/17/98
------------- Copyright (C) 1999 Jon S. Berndt (jsb@hal-pc.org) -------------
This program is free software; you can redistribute it and/or modify it under
the terms of the GNU General Public License as published by the Free Software
Foundation; either version 2 of the License, or (at your option) any later
version.
This program is distributed in the hope that it will be useful, but WITHOUT
ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
details.
You should have received a copy of the GNU General Public License along with
this program; if not, write to the Free Software Foundation, Inc., 59 Temple
Place - Suite 330, Boston, MA 02111-1307, USA.
Further information about the GNU General Public License can also be found on
the world wide web at http://www.gnu.org.
FUNCTIONAL DESCRIPTION
--------------------------------------------------------------------------------
HISTORY
--------------------------------------------------------------------------------
11/17/98 JSB Created
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
SENTRY
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#ifndef FGSTATE_H
#define FGSTATE_H
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
INCLUDES
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#ifdef FGFS
# include <simgear/compiler.h>
# ifdef SG_HAVE_STD_INCLUDES
# include <fstream>
# else
# include <fstream.h>
# endif
#else
# if defined(sgi) && !defined(__GNUC__)
# include <fstream.h>
# else
# include <fstream>
# endif
#endif
#include <string>
#include <map>
#include "FGJSBBase.h"
#include "FGInitialCondition.h"
#include "FGMatrix33.h"
#include "FGColumnVector3.h"
#include "FGColumnVector4.h"
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
DEFINITIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
#define ID_STATE "$Id$"
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FORWARD DECLARATIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
class FGAircraft;
class FGTranslation;
class FGRotation;
class FGAtmosphere;
class FGOutput;
class FGPosition;
class FGFDMExec;
class FGGroundReactions;
class FGPropulsion;
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
COMMENTS, REFERENCES, and NOTES [use "class documentation" below for API docs]
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DOCUMENTATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
/** Encapsulates the calculation of aircraft state.
@author Jon S. Berndt
@version $Id$
*/
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DECLARATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
class FGState : public FGJSBBase
{
public:
/** Constructor
@param Executive a pointer to the parent executive object */
FGState(FGFDMExec*);
/// Destructor
~FGState();
/** Specifies the Reset file to use.
The reset file normally resides in the same directory as an aircraft config file.
it includes the following information:
<ul>
<li>U, the body X-Axis velocity</li>
<li>V, the body Y-Axis velocity</li>
<li>W, the body Z-Axis velocity</li>
<li>Latitude measured in radians from the equator, negative values are south.</li>
<li>Longitude, measured in radians from the Greenwich meridian, negative values are west.</li>
<li>Phi, the roll angle in radians.</li>
<li>Theta, the pitch attitude in radians.</li>
<li>Psi, the heading angle in radians.</li>
<li>H, the altitude in feet</li>
<li>Wind Direction, the direction the wind is coming <u>from</u>.</li>
<li>Wind magnitude, the wind speed in fps.</li>
</ul>
@param path the path string leading to the specific aircraft file, i.e. "aircraft".
@param aircraft the name of the aircraft, i.e. "c172".
@param filename the name of the reset file without an extension, i.e. "reset00".
@return true if successful, false if the file could not be opened.
*/
bool Reset(string path, string aircraft, string filename);
/** Initializes the simulation state based on the passed-in parameters.
@param U the body X-Axis velocity in fps.
@param V the body Y-Axis velocity in fps.
@param W the body Z-Axis velocity in fps.
@param lat latitude measured in radians from the equator, negative values are south.
@param lon longitude, measured in radians from the Greenwich meridian, negative values are west.
@param phi the roll angle in radians.
@param tht the pitch angle in radians.
@param psi the heading angle in radians measured clockwise from north.
@param h altitude in feet.
@param wnorth north velocity in feet per second
@param weast eastward velocity in feet per second
@param wdown downward velocity in feet per second
*/
void Initialize(double U,
double V,
double W,
double lat,
double lon,
double phi,
double tht,
double psi,
double h,
double wnorth,
double weast,
double wdown);
/** Initializes the simulation state based on parameters from an Initial Conditions object.
@param FGIC pointer to an initial conditions object.
@see FGInitialConditions.
*/
void Initialize(FGInitialCondition *FGIC);
/** Stores state data in the supplied file name.
@param filename the file to store the data in.
@return true if successful.
*/
bool StoreData(string filename);
/// returns the speed of sound in feet per second.
inline double Geta(void) { return a; }
/// Returns the simulation time in seconds.
inline double Getsim_time(void) const { return sim_time; }
/// Returns the simulation delta T.
inline double Getdt(void) { return dt; }
/// Suspends the simulation and sets the delta T to zero.
inline void Suspend(void) {saved_dt = dt; dt = 0.0;}
/// Resumes the simulation by resetting delta T to the correct value.
inline void Resume(void) {dt = saved_dt;}
/** Retrieves a parameter.
The parameters that can be retrieved are enumerated in FGJSBBase.h.
@param val_idx one of the enumerated JSBSim parameters.
@return the value of the parameter.
*/
double GetParameter(eParam val_idx);
/** Retrieves a parameter.
The parameters that can be retrieved are enumerated in FGJSBBase.h.
@param val_string a string representing one of the enumerated JSBSim parameters,
i.e. "FG_QBAR".
@return the value of the parameter.
*/
double GetParameter(string val_string);
/** Retrieves the JSBSim parameter enumerated item given the text string.
@param val_string the parameter string, i.e. "FG_QBAR".
@return the JSBSim parameter index (an enumerated type) for the supplied string.
*/
eParam GetParameterIndex(string val_string);
/** Sets the speed of sound.
@param speed the speed of sound in feet per second.
*/
inline void Seta(double speed) { a = speed; }
/** Gets the name of the parameter given the index.
@param val_idx one of the enumerated JSBSim parameters.
@return the name of the parameter pointed to by the index.
*/
string GetParameterName(eParam val_idx) {return paramdef[val_idx];}
/** Sets the current sim time.
@param cur_time the current time
@return the current time.
*/
inline double Setsim_time(double cur_time) {
sim_time = cur_time;
return sim_time;
}
/** Sets the integration time step for the simulation executive.
@param delta_t the time step in seconds.
*/
inline void Setdt(double delta_t) { dt = delta_t; }
/** Sets the JSBSim parameter to the supplied value.
@param prm the JSBSim parameter to set, i.e. FG_RUDDER_POS.
@param val the value to give the parameter.
*/
void SetParameter(eParam prm, double val);
/** Increments the simulation time.
@return the new simulation time.
*/
inline double IncrTime(void) {
sim_time+=dt;
return sim_time;
}
/** Initializes the transformation matrices.
@param phi the roll angle in radians.
@param tht the pitch angle in radians.
@param psi the heading angle in radians
*/
void InitMatrices(double phi, double tht, double psi);
/** Calculates the local-to-body and body-to-local conversion matrices.
*/
void CalcMatrices(void);
/** Integrates the quaternion.
Given the supplied rotational rate vector and integration rate, the quaternion
is integrated. The quaternion is later used to update the transformation
matrices.
@param vPQR the body rotational rate column vector.
@param rate the integration rate in seconds.
*/
void IntegrateQuat(FGColumnVector3 vPQR, int rate);
/** Calculates Euler angles from the local-to-body matrix.
@return a reference to the vEuler column vector.
*/
FGColumnVector3& CalcEuler(void);
/** Calculates and returns the stability-to-body axis transformation matrix.
@return a reference to the stability-to-body transformation matrix.
*/
FGMatrix33& GetTs2b(void);
/** Calculates and returns the body-to-stability axis transformation matrix.
@return a reference to the stability-to-body transformation matrix.
*/
FGMatrix33& GetTb2s(void);
/** Retrieves the local-to-body transformation matrix.
@return a reference to the local-to-body transformation matrix.
*/
FGMatrix33& GetTl2b(void) { return mTl2b; }
/** Retrieves a specific local-to-body matrix element.
@param r matrix row index.
@param c matrix column index.
@return the matrix element described by the row and column supplied.
*/
double GetTl2b(int r, int c) { return mTl2b(r,c);}
/** Retrieves the body-to-local transformation matrix.
@return a reference to the body-to-local matrix.
*/
FGMatrix33& GetTb2l(void) { return mTb2l; }
/** Retrieves a specific body-to-local matrix element.
@param r matrix row index.
@param c matrix column index.
@return the matrix element described by the row and column supplied.
*/
double GetTb2l(int i, int j) { return mTb2l(i,j);}
/** Prints a summary of simulator state (speed, altitude,
configuration, etc.)
*/
void ReportState(void);
inline string GetPropertyName(eParam prm) { return ParamToProp[prm]; }
inline eParam GetParam(string property) { return PropToParam[property]; }
void bind();
void unbind();
private:
double a; // speed of sound
double sim_time, dt;
double saved_dt;
FGFDMExec* FDMExec;
FGMatrix33 mTb2l;
FGMatrix33 mTl2b;
FGMatrix33 mTs2b;
FGMatrix33 mTb2s;
FGColumnVector4 vQtrn;
FGColumnVector4 vlastQdot;
FGColumnVector4 vQdot;
FGColumnVector3 vUVW;
FGColumnVector3 vLocalVelNED;
FGColumnVector3 vLocalEuler;
FGColumnVector4 vTmp;
FGColumnVector3 vEuler;
FGAircraft* Aircraft;
FGPosition* Position;
FGTranslation* Translation;
FGRotation* Rotation;
FGOutput* Output;
FGAtmosphere* Atmosphere;
FGFCS* FCS;
FGAerodynamics* Aerodynamics;
FGGroundReactions* GroundReactions;
FGPropulsion* Propulsion;
FGPropertyManager* PropertyManager;
typedef map<string, eParam> CoeffMap;
CoeffMap coeffdef;
typedef map<eParam, string> ParamMap;
ParamMap paramdef;
ParamMap ParamToProp;
CoeffMap PropToParam;
int ActiveEngine;
void InitPropertyMaps(void);
void Debug(int from);
};
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
#include "FGFDMExec.h"
#include "FGAtmosphere.h"
#include "FGFCS.h"
#include "FGTranslation.h"
#include "FGRotation.h"
#include "FGPosition.h"
#include "FGAerodynamics.h"
#include "FGOutput.h"
#include "FGAircraft.h"
#include "FGGroundReactions.h"
#include "FGPropulsion.h"
#endif
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