136 lines
4.6 KiB
C++
136 lines
4.6 KiB
C++
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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Header: FGTranslation.h
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Author: Jon Berndt
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Date started: 12/02/98
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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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HISTORY
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--------------------------------------------------------------------------------
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12/02/98 JSB Created
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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COMMENTS, REFERENCES, and NOTES
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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[1] Cooke, Zyda, Pratt, and McGhee, "NPSNET: Flight Simulation Dynamic Modeling
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Using Quaternions", Presence, Vol. 1, No. 4, pp. 404-420 Naval Postgraduate
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School, January 1994
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[2] D. M. Henderson, "Euler Angles, Quaternions, and Transformation Matrices",
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JSC 12960, July 1977
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[3] Richard E. McFarland, "A Standard Kinematic Model for Flight Simulation at
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NASA-Ames", NASA CR-2497, January 1975
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[4] Barnes W. McCormick, "Aerodynamics, Aeronautics, and Flight Mechanics",
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Wiley & Sons, 1979 ISBN 0-471-03032-5
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[5] Bernard Etkin, "Dynamics of Flight, Stability and Control", Wiley & Sons,
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1982 ISBN 0-471-08936-2
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The order of rotations used in this class corresponds to a 3-2-1 sequence,
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or Y-P-R, or Z-Y-X, if you prefer.
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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SENTRY
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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#ifndef FGTRANSLATION_H
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#define FGTRANSLATION_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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# ifdef SG_HAVE_STD_INCLUDES
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# include <cmath>
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# else
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# include <math.h>
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# endif
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#else
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# if defined(sgi) && !defined(__GNUC__)
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# include <math.h>
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# else
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# include <cmath>
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# endif
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#endif
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#include "FGModel.h"
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#include "FGMatrix33.h"
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#include "FGColumnVector3.h"
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#include "FGColumnVector4.h"
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#define ID_TRANSLATION "$Id$"
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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CLASS DECLARATION
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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class FGTranslation : public FGModel {
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public:
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FGTranslation(FGFDMExec*);
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~FGTranslation();
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inline FGColumnVector3& GetUVW (void) { return vUVW; }
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inline double GetUVW (int idx) { return vUVW(idx); }
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inline FGColumnVector3& GetUVWdot(void) { return vUVWdot; }
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inline double GetUVWdot(int idx) { return vUVWdot(idx); }
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inline FGColumnVector3& GetvAeroUVW (void) { return vAeroUVW; }
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inline double GetvAeroUVW (int idx) { return vAeroUVW(idx); }
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inline double Getalpha(void) { return alpha; }
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inline double Getbeta (void) { return beta; }
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inline double Getqbar (void) { return qbar; }
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inline double GetVt (void) { return Vt; }
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inline double GetMach (void) { return Mach; }
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inline double Getadot (void) { return adot; }
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inline double Getbdot (void) { return bdot; }
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void SetUVW(FGColumnVector3 tt) { vUVW = tt; }
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inline void Setalpha(double tt) { alpha = tt; }
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inline void Setbeta (double tt) { beta = tt; }
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inline void Setqbar (double tt) { qbar = tt; }
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inline void SetVt (double tt) { Vt = tt; }
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inline void SetMach (double tt) { Mach=tt; }
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inline void Setadot (double tt) { adot = tt; }
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inline void Setbdot (double tt) { bdot = tt; }
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inline void SetAB(double t1, double t2) { alpha=t1; beta=t2; }
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bool Run(void);
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private:
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FGColumnVector3 vUVW;
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FGColumnVector3 vUVWdot;
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FGColumnVector3 vlastUVWdot;
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FGMatrix33 mVel;
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FGColumnVector3 vAeroUVW;
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double Vt, qbar, Mach;
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double dt;
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double alpha, beta;
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double adot,bdot;
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void Debug(int from);
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};
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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#endif
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