362 lines
12 KiB
C++
362 lines
12 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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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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# ifdef SG_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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#else
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# if defined(sgi) && !defined(__GNUC__)
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# include <fstream.h>
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# else
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# include <fstream>
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# endif
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#endif
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#include <string>
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#include <map>
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#include "FGJSBBase.h"
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#include "FGInitialCondition.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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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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DEFINITIONS
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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#define ID_STATE "$Id$"
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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FORWARD DECLARATIONS
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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class FGAircraft;
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class FGTranslation;
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class FGRotation;
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class FGAtmosphere;
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class FGOutput;
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class FGPosition;
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class FGFDMExec;
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class FGGroundReactions;
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class FGPropulsion;
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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COMMENTS, REFERENCES, and NOTES [use "class documentation" below for API docs]
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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CLASS DOCUMENTATION
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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/** Encapsulates the calculation of aircraft state.
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@author Jon S. Berndt
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@version $Id$
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*/
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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CLASS DECLARATION
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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class FGState : public FGJSBBase
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{
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public:
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/** Constructor
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@param Executive a pointer to the parent executive object */
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FGState(FGFDMExec*);
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/// Destructor
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~FGState();
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/** Specifies the Reset file to use.
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The reset file normally resides in the same directory as an aircraft config file.
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it includes the following information:
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<ul>
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<li>U, the body X-Axis velocity</li>
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<li>V, the body Y-Axis velocity</li>
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<li>W, the body Z-Axis velocity</li>
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<li>Latitude measured in radians from the equator, negative values are south.</li>
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<li>Longitude, measured in radians from the Greenwich meridian, negative values are west.</li>
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<li>Phi, the roll angle in radians.</li>
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<li>Theta, the pitch attitude in radians.</li>
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<li>Psi, the heading angle in radians.</li>
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<li>H, the altitude in feet</li>
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<li>Wind Direction, the direction the wind is coming <u>from</u>.</li>
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<li>Wind magnitude, the wind speed in fps.</li>
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</ul>
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@param path the path string leading to the specific aircraft file, i.e. "aircraft".
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@param aircraft the name of the aircraft, i.e. "c172".
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@param filename the name of the reset file without an extension, i.e. "reset00".
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@return true if successful, false if the file could not be opened.
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*/
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bool Reset(string path, string aircraft, string filename);
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/** Initializes the simulation state based on the passed-in parameters.
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@param U the body X-Axis velocity in fps.
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@param V the body Y-Axis velocity in fps.
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@param W the body Z-Axis velocity in fps.
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@param lat latitude measured in radians from the equator, negative values are south.
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@param lon longitude, measured in radians from the Greenwich meridian, negative values are west.
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@param phi the roll angle in radians.
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@param tht the pitch angle in radians.
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@param psi the heading angle in radians measured clockwise from north.
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@param h altitude in feet.
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@param wnorth north velocity in feet per second
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@param weast eastward velocity in feet per second
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@param wdown downward velocity in feet per second
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*/
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void Initialize(double U,
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double V,
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double W,
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double lat,
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double lon,
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double phi,
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double tht,
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double psi,
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double h,
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double wnorth,
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double weast,
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double wdown);
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/** Initializes the simulation state based on parameters from an Initial Conditions object.
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@param FGIC pointer to an initial conditions object.
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@see FGInitialConditions.
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*/
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void Initialize(FGInitialCondition *FGIC);
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/** Stores state data in the supplied file name.
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@param filename the file to store the data in.
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@return true if successful.
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*/
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bool StoreData(string filename);
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/// returns the speed of sound in feet per second.
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inline double Geta(void) { return a; }
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/// Returns the simulation time in seconds.
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inline double Getsim_time(void) { return sim_time; }
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/// Returns the simulation delta T.
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inline double Getdt(void) { return dt; }
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/// Suspends the simulation and sets the delta T to zero.
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inline void Suspend(void) {saved_dt = dt; dt = 0.0;}
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/// Resumes the simulation by resetting delta T to the correct value.
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inline void Resume(void) {dt = saved_dt;}
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/** Retrieves a parameter.
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The parameters that can be retrieved are enumerated in FGJSBBase.h.
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@param val_idx one of the enumerated JSBSim parameters.
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@return the value of the parameter.
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*/
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double GetParameter(eParam val_idx);
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/** Retrieves a parameter.
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The parameters that can be retrieved are enumerated in FGJSBBase.h.
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@param val_string a string representing one of the enumerated JSBSim parameters,
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i.e. "FG_QBAR".
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@return the value of the parameter.
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*/
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double GetParameter(string val_string);
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/** Retrieves the JSBSim parameter enumerated item given the text string.
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@param val_string the parameter string, i.e. "FG_QBAR".
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@return the JSBSim parameter index (an enumerated type) for the supplied string.
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*/
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eParam GetParameterIndex(string val_string);
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/** Sets the speed of sound.
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@param speed the speed of sound in feet per second.
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*/
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inline void Seta(double speed) { a = speed; }
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/** Sets the current sim time.
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@param cur_time the current time
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@return the current time.
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*/
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inline double Setsim_time(double cur_time) {
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sim_time = cur_time;
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return sim_time;
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}
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/** Sets the integration time step for the simulation executive.
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@param delta_t the time step in seconds.
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*/
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inline void Setdt(double delta_t) { dt = delta_t; }
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/** Sets the JSBSim parameter to the supplied value.
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@param prm the JSBSim parameter to set, i.e. FG_RUDDER_POS.
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@param val the value to give the parameter.
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*/
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void SetParameter(eParam prm, double val);
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/** Increments the simulation time.
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@return the new simulation time.
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*/
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inline double IncrTime(void) {
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sim_time+=dt;
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return sim_time;
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}
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/** Initializes the transformation matrices.
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@param phi the roll angle in radians.
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@param tht the pitch angle in radians.
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@param psi the heading angle in radians
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*/
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void InitMatrices(double phi, double tht, double psi);
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/** Calculates the local-to-body and body-to-local conversion matrices.
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*/
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void CalcMatrices(void);
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/** Integrates the quaternion.
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Given the supplied rotational rate vector and integration rate, the quaternion
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is integrated. The quaternion is later used to update the transformation
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matrices.
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@param vPQR the body rotational rate column vector.
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@param rate the integration rate in seconds.
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*/
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void IntegrateQuat(FGColumnVector3 vPQR, int rate);
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/** Calculates Euler angles from the local-to-body matrix.
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@return a reference to the vEuler column vector.
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*/
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FGColumnVector3& CalcEuler(void);
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/** Calculates and returns the stability-to-body axis transformation matrix.
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@return a reference to the stability-to-body transformation matrix.
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*/
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FGMatrix33& GetTs2b(void);
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/** Calculates and returns the body-to-stability axis transformation matrix.
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@return a reference to the stability-to-body transformation matrix.
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*/
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FGMatrix33& GetTb2s(void);
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/** Retrieves the local-to-body transformation matrix.
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@return a reference to the local-to-body transformation matrix.
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*/
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FGMatrix33& GetTl2b(void) { return mTl2b; }
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/** Retrieves a specific local-to-body matrix element.
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@param r matrix row index.
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@param c matrix column index.
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@return the matrix element described by the row and column supplied.
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*/
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double GetTl2b(int r, int c) { return mTl2b(r,c);}
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/** Retrieves the body-to-local transformation matrix.
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@return a reference to the body-to-local matrix.
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*/
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FGMatrix33& GetTb2l(void) { return mTb2l; }
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/** Retrieves a specific body-to-local matrix element.
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@param r matrix row index.
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@param c matrix column index.
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@return the matrix element described by the row and column supplied.
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*/
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double GetTb2l(int i, int j) { return mTb2l(i,j);}
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/** Prints a summary of simulator state (speed, altitude,
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configuration, etc.)
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*/
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void ReportState(void);
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typedef map<eParam, string> ParamMap;
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ParamMap paramdef;
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private:
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double a; // speed of sound
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double sim_time, dt;
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double saved_dt;
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FGFDMExec* FDMExec;
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FGMatrix33 mTb2l;
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FGMatrix33 mTl2b;
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FGMatrix33 mTs2b;
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FGMatrix33 mTb2s;
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FGColumnVector4 vQtrn;
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FGColumnVector4 vlastQdot;
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FGColumnVector4 vQdot;
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FGColumnVector3 vUVW;
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FGColumnVector3 vLocalVelNED;
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FGColumnVector3 vLocalEuler;
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FGColumnVector4 vTmp;
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FGColumnVector3 vEuler;
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FGAircraft* Aircraft;
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FGPosition* Position;
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FGTranslation* Translation;
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FGRotation* Rotation;
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FGOutput* Output;
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FGAtmosphere* Atmosphere;
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FGFCS* FCS;
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FGAerodynamics* Aerodynamics;
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FGGroundReactions* GroundReactions;
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FGPropulsion* Propulsion;
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typedef map<string, eParam> CoeffMap;
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CoeffMap coeffdef;
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void Debug(void);
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int ActiveEngine;
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};
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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#include "FGFDMExec.h"
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#include "FGAtmosphere.h"
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#include "FGFCS.h"
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#include "FGTranslation.h"
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#include "FGRotation.h"
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#include "FGPosition.h"
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#include "FGAerodynamics.h"
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#include "FGOutput.h"
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#include "FGAircraft.h"
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#include "FGGroundReactions.h"
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#include "FGPropulsion.h"
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#endif
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