142 lines
4.8 KiB
C++
142 lines
4.8 KiB
C++
/*******************************************************************************
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Header: FGRotation.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 FGROTATION_H
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#define FGROTATION_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 <Include/compiler.h>
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# ifdef FG_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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# include <cmath>
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#endif
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#include "FGModel.h"
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/*******************************************************************************
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CLASS DECLARATION
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*******************************************************************************/
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class FGRotation : public FGModel
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{
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public:
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FGRotation(FGFDMExec*);
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~FGRotation(void);
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bool Run(void);
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inline float GetP(void) {return P;}
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inline float GetQ(void) {return Q;}
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inline float GetR(void) {return R;}
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inline float GetPdot(void) {return Pdot;}
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inline float GetQdot(void) {return Qdot;}
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inline float GetRdot(void) {return Rdot;}
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inline float Getphi(void) {return phi;}
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inline float Gettht(void) {return tht;}
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inline float Getpsi(void) {return psi;}
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inline float GetQ0(void) {return Q0;}
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inline float GetQ1(void) {return Q1;}
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inline float GetQ2(void) {return Q2;}
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inline float GetQ3(void) {return Q3;}
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inline void SetP(float tt) {P = tt;}
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inline void SetQ(float tt) {Q = tt;}
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inline void SetR(float tt) {R = tt;}
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inline void SetPQR(float t1, float t2, float t3) {P=t1;
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Q=t2;
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R=t3;}
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inline void Setphi(float tt) {phi = tt;}
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inline void Settht(float tt) {tht = tt;}
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inline void Setpsi(float tt) {psi = tt;}
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inline void SetEuler(float t1, float t2, float t3) {phi=t1;
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tht=t2;
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psi=t3;}
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inline void SetQ0123(float t1, float t2, float t3, float t4) {Q0=t1;
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Q1=t2;
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Q2=t3;
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Q3=t4;}
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protected:
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private:
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float P, Q, R;
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float L, M, N;
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float Ixx, Iyy, Izz, Ixz;
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float Q0, Q1, Q2, Q3;
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float phi, tht, psi;
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float Pdot, Qdot, Rdot;
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float Q0dot, Q1dot, Q2dot, Q3dot;
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float lastPdot, lastQdot, lastRdot;
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float lastQ0dot, lastQ1dot, lastQ2dot, lastQ3dot;
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float dt;
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float T[4][4];
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void GetState(void);
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void PutState(void);
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};
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/******************************************************************************/
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#endif
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