352 lines
12 KiB
C++
352 lines
12 KiB
C++
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
|
|
|
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 "FGDefs.h"
|
|
#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;
|
|
|
|
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
|
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(float U,
|
|
float V,
|
|
float W,
|
|
float lat,
|
|
float lon,
|
|
float phi,
|
|
float tht,
|
|
float psi,
|
|
float h,
|
|
float wnorth,
|
|
float weast,
|
|
float 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 float Geta(void) { return a; }
|
|
|
|
/// Returns the simulation time in seconds.
|
|
inline float Getsim_time(void) { return sim_time; }
|
|
/// Returns the simulation delta T.
|
|
inline float 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 FGDefs.h.
|
|
@param val_idx one of the enumerated JSBSim parameters.
|
|
@return the value of the parameter.
|
|
*/
|
|
float GetParameter(eParam val_idx);
|
|
|
|
/** Retrieves a parameter.
|
|
The parameters that can be retrieved are enumerated in FGDefs.h.
|
|
@param val_string a string representing one of the enumerated JSBSim parameters,
|
|
i.e. "FG_QBAR".
|
|
@return the value of the parameter.
|
|
*/
|
|
float 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(float speed) { a = speed; }
|
|
|
|
/** Sets the current sim time.
|
|
@param cur_time the current time
|
|
@return the current time.
|
|
*/
|
|
inline float Setsim_time(float 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(float 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, float val);
|
|
|
|
/** Increments the simulation time.
|
|
@return the new simulation time.
|
|
*/
|
|
inline float 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(float phi, float tht, float 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.
|
|
@param alpha angle of attack in radians.
|
|
@param beta angle of sideslip in radians.
|
|
@return a reference to the stability-to-body transformation matrix.
|
|
*/
|
|
FGMatrix33& GetTs2b(float alpha, float beta);
|
|
|
|
/** 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.
|
|
*/
|
|
float 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.
|
|
*/
|
|
float GetTb2l(int i, int j) { return mTb2l(i,j);}
|
|
|
|
/** Prints a summary of simulator state (speed, altitude,
|
|
configuration, etc.)
|
|
*/
|
|
void ReportState(void);
|
|
|
|
|
|
typedef map<eParam, string> ParamMap;
|
|
ParamMap paramdef;
|
|
|
|
private:
|
|
float a; // speed of sound
|
|
float sim_time, dt;
|
|
float saved_dt;
|
|
|
|
FGFDMExec* FDMExec;
|
|
FGMatrix33 mTb2l;
|
|
FGMatrix33 mTl2b;
|
|
FGMatrix33 mTs2b;
|
|
FGColumnVector4 vQtrn;
|
|
FGColumnVector4 vlastQdot;
|
|
FGColumnVector3 vUVW;
|
|
FGColumnVector3 vLocalVelNED;
|
|
FGColumnVector3 vLocalEuler;
|
|
FGColumnVector4 vQdot;
|
|
FGColumnVector4 vTmp;
|
|
FGColumnVector3 vEuler;
|
|
|
|
FGAircraft* Aircraft;
|
|
FGPosition* Position;
|
|
FGTranslation* Translation;
|
|
FGRotation* Rotation;
|
|
FGOutput* Output;
|
|
FGAtmosphere* Atmosphere;
|
|
FGFCS* FCS;
|
|
FGAerodynamics* Aerodynamics;
|
|
|
|
typedef map<string, eParam> CoeffMap;
|
|
CoeffMap coeffdef;
|
|
void Debug(void);
|
|
int ActiveEngine;
|
|
};
|
|
|
|
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
|
|
|
#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"
|
|
|
|
#endif
|
|
|