482 lines
14 KiB
C++
482 lines
14 KiB
C++
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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Module: FGState.cpp
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Author: Jon Berndt
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Date started: 11/17/98
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Called by: FGFDMExec and accessed by all models.
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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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See header file.
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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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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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# 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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#ifdef _WIN32
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#define snprintf _snprintf
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#endif
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#include "FGState.h"
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namespace JSBSim {
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static const char *IdSrc = "$Id$";
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static const char *IdHdr = ID_STATE;
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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MACROS
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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CLASS IMPLEMENTATION
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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FGState::FGState(FGFDMExec* fdex)
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{
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FDMExec = fdex;
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a = 1000.0;
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sim_time = 0.0;
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dt = 1.0/120.0;
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Aircraft = FDMExec->GetAircraft();
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Translation = FDMExec->GetTranslation();
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Rotation = FDMExec->GetRotation();
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Position = FDMExec->GetPosition();
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FCS = FDMExec->GetFCS();
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Output = FDMExec->GetOutput();
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Atmosphere = FDMExec->GetAtmosphere();
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Aerodynamics = FDMExec->GetAerodynamics();
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GroundReactions = FDMExec->GetGroundReactions();
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Propulsion = FDMExec->GetPropulsion();
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PropertyManager = FDMExec->GetPropertyManager();
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for(int i=0;i<3;i++) vQdot_prev[i].InitMatrix();
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bind();
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Debug(0);
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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FGState::~FGState()
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{
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unbind();
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Debug(1);
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}
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//***************************************************************************
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//
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// Initialize: Assume all angles GIVEN IN RADIANS !!
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//
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void FGState::Initialize(double U, double V, double W,
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double phi, double tht, double psi,
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double Latitude, double Longitude, double H,
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double wnorth, double weast, double wdown)
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{
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double alpha, beta;
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double qbar, Vt;
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FGColumnVector3 vAeroUVW;
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Position->SetLatitude(Latitude);
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Position->SetLongitude(Longitude);
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Position->Seth(H);
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Atmosphere->Run();
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vLocalEuler << phi << tht << psi;
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Rotation->SetEuler(vLocalEuler);
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InitMatrices(phi, tht, psi);
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vUVW << U << V << W;
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Translation->SetUVW(vUVW);
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Atmosphere->SetWindNED(wnorth, weast, wdown);
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vAeroUVW = vUVW + mTl2b*Atmosphere->GetWindNED();
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if (vAeroUVW(eW) != 0.0)
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alpha = vAeroUVW(eU)*vAeroUVW(eU) > 0.0 ? atan2(vAeroUVW(eW), vAeroUVW(eU)) : 0.0;
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else
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alpha = 0.0;
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if (vAeroUVW(eV) != 0.0)
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beta = vAeroUVW(eU)*vAeroUVW(eU)+vAeroUVW(eW)*vAeroUVW(eW) > 0.0 ? atan2(vAeroUVW(eV), (fabs(vAeroUVW(eU))/vAeroUVW(eU))*sqrt(vAeroUVW(eU)*vAeroUVW(eU) + vAeroUVW(eW)*vAeroUVW(eW))) : 0.0;
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else
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beta = 0.0;
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Translation->SetAB(alpha, beta);
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Vt = sqrt(U*U + V*V + W*W);
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Translation->SetVt(Vt);
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Translation->SetMach(Vt/Atmosphere->GetSoundSpeed());
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qbar = 0.5*(U*U + V*V + W*W)*Atmosphere->GetDensity();
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Translation->Setqbar(qbar);
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vLocalVelNED = mTb2l*vUVW;
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Position->SetvVel(vLocalVelNED);
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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void FGState::Initialize(FGInitialCondition *FGIC)
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{
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double tht,psi,phi;
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double U, V, W, h;
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double latitude, longitude;
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double wnorth,weast, wdown;
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latitude = FGIC->GetLatitudeRadIC();
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longitude = FGIC->GetLongitudeRadIC();
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h = FGIC->GetAltitudeFtIC();
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U = FGIC->GetUBodyFpsIC();
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V = FGIC->GetVBodyFpsIC();
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W = FGIC->GetWBodyFpsIC();
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tht = FGIC->GetThetaRadIC();
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phi = FGIC->GetPhiRadIC();
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psi = FGIC->GetPsiRadIC();
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wnorth = FGIC->GetWindNFpsIC();
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weast = FGIC->GetWindEFpsIC();
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wdown = FGIC->GetWindDFpsIC();
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Position->SetSeaLevelRadius( FGIC->GetSeaLevelRadiusFtIC() );
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Position->SetRunwayRadius( FGIC->GetSeaLevelRadiusFtIC() +
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FGIC->GetTerrainAltitudeFtIC() );
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// need to fix the wind speed args, here.
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Initialize(U, V, W, phi, tht, psi, latitude, longitude, h, wnorth, weast, wdown);
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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void FGState::InitMatrices(double phi, double tht, double psi)
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{
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double thtd2, psid2, phid2;
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double Sthtd2, Spsid2, Sphid2;
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double Cthtd2, Cpsid2, Cphid2;
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double Cphid2Cthtd2;
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double Cphid2Sthtd2;
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double Sphid2Sthtd2;
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double Sphid2Cthtd2;
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thtd2 = tht/2.0;
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psid2 = psi/2.0;
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phid2 = phi/2.0;
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Sthtd2 = sin(thtd2);
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Spsid2 = sin(psid2);
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Sphid2 = sin(phid2);
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Cthtd2 = cos(thtd2);
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Cpsid2 = cos(psid2);
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Cphid2 = cos(phid2);
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Cphid2Cthtd2 = Cphid2*Cthtd2;
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Cphid2Sthtd2 = Cphid2*Sthtd2;
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Sphid2Sthtd2 = Sphid2*Sthtd2;
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Sphid2Cthtd2 = Sphid2*Cthtd2;
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vQtrn(1) = Cphid2Cthtd2*Cpsid2 + Sphid2Sthtd2*Spsid2;
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vQtrn(2) = Sphid2Cthtd2*Cpsid2 - Cphid2Sthtd2*Spsid2;
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vQtrn(3) = Cphid2Sthtd2*Cpsid2 + Sphid2Cthtd2*Spsid2;
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vQtrn(4) = Cphid2Cthtd2*Spsid2 - Sphid2Sthtd2*Cpsid2;
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CalcMatrices();
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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void FGState::CalcMatrices(void)
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{
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double Q0Q0, Q1Q1, Q2Q2, Q3Q3;
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double Q0Q1, Q0Q2, Q0Q3, Q1Q2;
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double Q1Q3, Q2Q3;
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Q0Q0 = vQtrn(1)*vQtrn(1);
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Q1Q1 = vQtrn(2)*vQtrn(2);
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Q2Q2 = vQtrn(3)*vQtrn(3);
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Q3Q3 = vQtrn(4)*vQtrn(4);
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Q0Q1 = vQtrn(1)*vQtrn(2);
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Q0Q2 = vQtrn(1)*vQtrn(3);
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Q0Q3 = vQtrn(1)*vQtrn(4);
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Q1Q2 = vQtrn(2)*vQtrn(3);
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Q1Q3 = vQtrn(2)*vQtrn(4);
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Q2Q3 = vQtrn(3)*vQtrn(4);
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mTl2b(1,1) = Q0Q0 + Q1Q1 - Q2Q2 - Q3Q3;
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mTl2b(1,2) = 2*(Q1Q2 + Q0Q3);
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mTl2b(1,3) = 2*(Q1Q3 - Q0Q2);
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mTl2b(2,1) = 2*(Q1Q2 - Q0Q3);
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mTl2b(2,2) = Q0Q0 - Q1Q1 + Q2Q2 - Q3Q3;
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mTl2b(2,3) = 2*(Q2Q3 + Q0Q1);
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mTl2b(3,1) = 2*(Q1Q3 + Q0Q2);
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mTl2b(3,2) = 2*(Q2Q3 - Q0Q1);
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mTl2b(3,3) = Q0Q0 - Q1Q1 - Q2Q2 + Q3Q3;
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mTb2l = mTl2b;
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mTb2l.T();
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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void FGState::IntegrateQuat(FGColumnVector3 vPQR, int rate)
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{
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vQdot(1) = -0.5*(vQtrn(2)*vPQR(eP) + vQtrn(3)*vPQR(eQ) + vQtrn(4)*vPQR(eR));
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vQdot(2) = 0.5*(vQtrn(1)*vPQR(eP) + vQtrn(3)*vPQR(eR) - vQtrn(4)*vPQR(eQ));
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vQdot(3) = 0.5*(vQtrn(1)*vPQR(eQ) + vQtrn(4)*vPQR(eP) - vQtrn(2)*vPQR(eR));
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vQdot(4) = 0.5*(vQtrn(1)*vPQR(eR) + vQtrn(2)*vPQR(eQ) - vQtrn(3)*vPQR(eP));
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vQtrn += Integrate(TRAPZ, dt*rate, vQdot, vQdot_prev);
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vQtrn.Normalize();
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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FGColumnVector3& FGState::CalcEuler(void)
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{
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if (mTl2b(3,3) == 0.0) mTl2b(3,3) = 0.0000001;
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if (mTl2b(1,1) == 0.0) mTl2b(1,1) = 0.0000001;
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vEuler(ePhi) = atan2(mTl2b(2,3), mTl2b(3,3));
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vEuler(eTht) = asin(-mTl2b(1,3));
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vEuler(ePsi) = atan2(mTl2b(1,2), mTl2b(1,1));
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if (vEuler(ePsi) < 0.0) vEuler(ePsi) += 2*M_PI;
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return vEuler;
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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FGMatrix33& FGState::GetTs2b(void)
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{
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double ca, cb, sa, sb;
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double alpha = Translation->Getalpha();
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double beta = Translation->Getbeta();
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ca = cos(alpha);
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sa = sin(alpha);
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cb = cos(beta);
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sb = sin(beta);
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mTs2b(1,1) = ca*cb;
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mTs2b(1,2) = -ca*sb;
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mTs2b(1,3) = -sa;
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mTs2b(2,1) = sb;
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mTs2b(2,2) = cb;
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mTs2b(2,3) = 0.0;
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mTs2b(3,1) = sa*cb;
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mTs2b(3,2) = -sa*sb;
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mTs2b(3,3) = ca;
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return mTs2b;
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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FGMatrix33& FGState::GetTb2s(void)
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{
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float alpha,beta;
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float ca, cb, sa, sb;
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alpha = Translation->Getalpha();
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beta = Translation->Getbeta();
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ca = cos(alpha);
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sa = sin(alpha);
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cb = cos(beta);
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sb = sin(beta);
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mTb2s(1,1) = ca*cb;
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mTb2s(1,2) = sb;
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mTb2s(1,3) = sa*cb;
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mTb2s(2,1) = -ca*sb;
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mTb2s(2,2) = cb;
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mTb2s(2,3) = -sa*sb;
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mTb2s(3,1) = -sa;
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mTb2s(3,2) = 0.0;
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mTb2s(3,3) = ca;
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return mTb2s;
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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void FGState::ReportState(void)
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{
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#if !defined(__BORLANDCPP__)
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char out[80], flap[10], gear[12];
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cout << endl << " JSBSim State" << endl;
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snprintf(out,80," Weight: %7.0f lbs. CG: %5.1f, %5.1f, %5.1f inches\n",
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FDMExec->GetMassBalance()->GetWeight(),
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FDMExec->GetMassBalance()->GetXYZcg(1),
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FDMExec->GetMassBalance()->GetXYZcg(2),
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FDMExec->GetMassBalance()->GetXYZcg(3));
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cout << out;
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if ( FCS->GetDfPos() <= 0.01)
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snprintf(flap,10,"Up");
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else
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snprintf(flap,10,"%2.0f",FCS->GetDfPos());
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if (FCS->GetGearPos() < 0.01)
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snprintf(gear,12,"Up");
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else if (FCS->GetGearPos() > 0.99)
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snprintf(gear,12,"Down");
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else
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snprintf(gear,12,"In Transit");
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snprintf(out,80, " Flaps: %3s Gear: %12s\n",flap,gear);
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cout << out;
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snprintf(out,80, " Speed: %4.0f KCAS Mach: %5.2f\n",
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FDMExec->GetAuxiliary()->GetVcalibratedKTS(),
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Translation->GetMach() );
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cout << out;
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snprintf(out,80, " Altitude: %7.0f ft. AGL Altitude: %7.0f ft.\n",
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Position->Geth(),
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Position->GetDistanceAGL() );
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cout << out;
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snprintf(out,80, " Angle of Attack: %6.2f deg Pitch Angle: %6.2f deg\n",
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Translation->Getalpha()*radtodeg,
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Rotation->Gettht()*radtodeg );
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cout << out;
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snprintf(out,80, " Flight Path Angle: %6.2f deg Climb Rate: %5.0f ft/min\n",
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Position->GetGamma()*radtodeg,
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Position->Gethdot()*60 );
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cout << out;
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snprintf(out,80, " Normal Load Factor: %4.2f g's Pitch Rate: %5.2f deg/s\n",
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Aircraft->GetNlf(),
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Rotation->GetPQR(2)*radtodeg );
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cout << out;
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snprintf(out,80, " Heading: %3.0f deg true Sideslip: %5.2f deg Yaw Rate: %5.2f deg/s\n",
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Rotation->Getpsi()*radtodeg,
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Translation->Getbeta()*radtodeg,
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Rotation->GetPQR(3)*radtodeg );
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cout << out;
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snprintf(out,80, " Bank Angle: %5.2f deg Roll Rate: %5.2f deg/s\n",
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Rotation->Getphi()*radtodeg,
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Rotation->GetPQR(1)*radtodeg );
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cout << out;
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snprintf(out,80, " Elevator: %5.2f deg Left Aileron: %5.2f deg Rudder: %5.2f deg\n",
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FCS->GetDePos(ofRad)*radtodeg,
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FCS->GetDaLPos(ofRad)*radtodeg,
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FCS->GetDrPos(ofRad)*radtodeg );
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cout << out;
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snprintf(out,80, " Throttle: %5.2f%c\n",
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FCS->GetThrottlePos(0)*100,'%' );
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cout << out;
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snprintf(out,80, " Wind Components: %5.2f kts head wind, %5.2f kts cross wind\n",
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FDMExec->GetAuxiliary()->GetHeadWind()*fpstokts,
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FDMExec->GetAuxiliary()->GetCrossWind()*fpstokts );
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cout << out;
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snprintf(out,80, " Ground Speed: %4.0f knots , Ground Track: %3.0f deg true\n",
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Position->GetVground()*fpstokts,
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Position->GetGroundTrack()*radtodeg );
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cout << out;
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#endif
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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void FGState::bind(void)
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{
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PropertyManager->Tie("sim-time-sec",this,
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&FGState::Getsim_time);
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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void FGState::unbind(void)
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{
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PropertyManager->Untie("sim-time-sec");
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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// The bitmasked value choices are as follows:
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// unset: In this case (the default) JSBSim would only print
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// out the normally expected messages, essentially echoing
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// the config files as they are read. If the environment
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// variable is not set, debug_lvl is set to 1 internally
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// 0: This requests JSBSim not to output any messages
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// whatsoever.
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// 1: This value explicity requests the normal JSBSim
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// startup messages
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// 2: This value asks for a message to be printed out when
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// a class is instantiated
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// 4: When this value is set, a message is displayed when a
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// FGModel object executes its Run() method
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// 8: When this value is set, various runtime state variables
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// are printed out periodically
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// 16: When set various parameters are sanity checked and
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// a message is printed out when they go out of bounds
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void FGState::Debug(int from)
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{
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if (debug_lvl <= 0) return;
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if (debug_lvl & 1) { // Standard console startup message output
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if (from == 0) { // Constructor
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|
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|
}
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|
}
|
|
if (debug_lvl & 2 ) { // Instantiation/Destruction notification
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|
if (from == 0) cout << "Instantiated: FGState" << endl;
|
|
if (from == 1) cout << "Destroyed: FGState" << endl;
|
|
}
|
|
if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
|
|
}
|
|
if (debug_lvl & 8 ) { // Runtime state variables
|
|
}
|
|
if (debug_lvl & 16) { // Sanity checking
|
|
}
|
|
if (debug_lvl & 64) {
|
|
if (from == 0) { // Constructor
|
|
cout << IdSrc << endl;
|
|
cout << IdHdr << endl;
|
|
}
|
|
}
|
|
}
|
|
}
|