133 lines
4.3 KiB
C++
133 lines
4.3 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 <simgear/compiler.h>
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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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#ifndef M_PI
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# include <simgear/constants.h>
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# define M_PI SG_PI
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#endif
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#include "FGModel.h"
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#include "FGMatrix.h"
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#define ID_ROTATION "$Id$"
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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();
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bool Run(void);
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inline FGColumnVector GetPQR(void) {return vPQR;}
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inline float GetPQR(int axis) {return vPQR(axis);}
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inline FGColumnVector GetPQRdot(void) {return vPQRdot;}
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inline float GetPQRdot(int idx) {return vPQRdot(idx);}
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inline FGColumnVector GetEuler(void) {return vEuler;}
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inline float GetEuler(int axis) {return vEuler(axis);}
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inline FGColumnVector GetEulerRates(void) { return vEulerRates; }
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inline float GetEulerRates(int axis) { return vEulerRates(axis); }
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inline void SetPQR(FGColumnVector tt) {vPQR = tt;}
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inline void SetEuler(FGColumnVector tt) {vEuler = tt;}
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inline float Getphi(void) {return vEuler(1);}
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inline float Gettht(void) {return vEuler(2);}
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inline float Getpsi(void) {return vEuler(3);}
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inline float GetCosphi(void) {return cPhi;}
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inline float GetCostht(void) {return cTht;}
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inline float GetCospsi(void) {return cPsi;}
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inline float GetSinphi(void) {return sPhi;}
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inline float GetSintht(void) {return sTht;}
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inline float GetSinpsi(void) {return sPsi;}
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private:
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FGColumnVector vPQR;
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FGColumnVector vPQRdot;
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FGColumnVector vMoments;
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FGColumnVector vEuler;
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FGColumnVector vEulerRates;
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FGColumnVector vlastPQRdot;
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float cTht,sTht;
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float cPhi,sPhi;
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float cPsi,sPsi;
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float Ixx, Iyy, Izz, Ixz;
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float dt;
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void GetState(void);
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void Debug(void);
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};
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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#endif
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