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1 : : /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
2 : :
3 : : Header: FGAerodynamics.h
4 : : Author: Jon S. Berndt
5 : : Date started: 09/13/00
6 : :
7 : : ------------- Copyright (C) 1999 Jon S. Berndt (jon@jsbsim.org) -------------
8 : :
9 : : This program is free software; you can redistribute it and/or modify it under
10 : : the terms of the GNU Lesser General Public License as published by the Free Software
11 : : Foundation; either version 2 of the License, or (at your option) any later
12 : : version.
13 : :
14 : : This program is distributed in the hope that it will be useful, but WITHOUT
15 : : ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
16 : : FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
17 : : details.
18 : :
19 : : You should have received a copy of the GNU Lesser General Public License along with
20 : : this program; if not, write to the Free Software Foundation, Inc., 59 Temple
21 : : Place - Suite 330, Boston, MA 02111-1307, USA.
22 : :
23 : : Further information about the GNU Lesser General Public License can also be found on
24 : : the world wide web at http://www.gnu.org.
25 : :
26 : : HISTORY
27 : : --------------------------------------------------------------------------------
28 : : 09/13/00 JSB Created
29 : :
30 : : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
31 : : SENTRY
32 : : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
33 : :
34 : : #ifndef FGAERODYNAMICS_H
35 : : #define FGAERODYNAMICS_H
36 : :
37 : : /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
38 : : INCLUDES
39 : : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
40 : :
41 : : #include <string>
42 : : #include <vector>
43 : : #include <map>
44 : :
45 : : #include "FGModel.h"
46 : : #include "math/FGFunction.h"
47 : : #include "math/FGColumnVector3.h"
48 : : #include "math/FGMatrix33.h"
49 : : #include "input_output/FGXMLFileRead.h"
50 : :
51 : : /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
52 : : DEFINITIONS
53 : : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
54 : :
55 : : #define ID_AERODYNAMICS "$Id: FGAerodynamics.h,v 1.20 2009/11/12 13:08:11 jberndt Exp $"
56 : :
57 : : /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
58 : : FORWARD DECLARATIONS
59 : : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
60 : :
61 : : namespace JSBSim {
62 : :
63 : : /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
64 : : CLASS DOCUMENTATION
65 : : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
66 : :
67 : : /** Encapsulates the aerodynamic calculations.
68 : : This class owns and contains the list of force/coefficients that define the
69 : : aerodynamic properties of an aircraft. Here also, such unique phenomena
70 : : as ground effect, aerodynamic reference point shift, and maximum lift curve
71 : : tailoff are handled.
72 : :
73 : : @code
74 : : <aerodynamics>
75 : : <alphalimits unit="{RAD | DEG}">
76 : : <min> {number} </min>
77 : : <max> {number} </max>
78 : : </alphalimits>
79 : : <hysteresis_limits unit="{RAD | DEG}">
80 : : <min> {number} </min>
81 : : <max> {number} </max>
82 : : </hysteresis_limits>
83 : : <aero_ref_pt_shift_x>
84 : : <function>
85 : : {function contents}
86 : : </function>
87 : : </aero_ref_pt_shift_x>
88 : : <function>
89 : : {function contents}
90 : : </function>
91 : : <axis name="{LIFT | DRAG | SIDE | ROLL | PITCH | YAW}">
92 : : {force coefficient definitions}
93 : : </axis>
94 : : {additional axis definitions}
95 : : </aerodynamics>
96 : : @endcode
97 : :
98 : : Optionally two other coordinate systems may be used.<br><br>
99 : : 1) Body coordinate system:
100 : : @code
101 : : <axis name="{X | Y | Z}">
102 : : @endcode
103 : : <br>
104 : : 2) Axial-Normal coordinate system:
105 : : @code
106 : : <axis name="{AXIAL | NORMAL}">
107 : : @endcode
108 : : <br>
109 : : Systems may NOT be combined, or a load error will occur.
110 : :
111 : : @author Jon S. Berndt, Tony Peden
112 : : @version $Revision: 1.20 $
113 : : */
114 : :
115 : : /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
116 : : CLASS DECLARATION
117 : : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
118 : :
119 : : class FGAerodynamics : public FGModel, public FGXMLFileRead
120 : : {
121 : :
122 : : public:
123 : : /** Constructor
124 : : @param Executive a pointer to the parent executive object */
125 : : FGAerodynamics(FGFDMExec* Executive);
126 : : /// Destructor
127 : : ~FGAerodynamics();
128 : :
129 : : bool InitModel(void);
130 : :
131 : : /** Runs the Aerodynamics model; called by the Executive
132 : : @return false if no error */
133 : : bool Run(void);
134 : :
135 : : /** Loads the Aerodynamics model.
136 : : The Load function for this class expects the XML parser to
137 : : have found the aerodynamics keyword in the configuration file.
138 : : @param element pointer to the current XML element for aerodynamics parameters.
139 : : @return true if successful */
140 : : bool Load(Element* element);
141 : :
142 : : /** Gets the total aerodynamic force vector.
143 : : @return a force vector reference. */
144 : 110563 : FGColumnVector3& GetForces(void) {return vForces;}
145 : :
146 : : /** Gets the aerodynamic force for an axis.
147 : : @param n Axis index. This could be 0, 1, or 2, or one of the
148 : : axis enums: eX, eY, eZ.
149 : : @return the force acting on an axis */
150 : 3 : double GetForces(int n) const {return vForces(n);}
151 : :
152 : : /** Gets the total aerodynamic moment vector.
153 : : @return a moment vector reference. */
154 : 57460 : FGColumnVector3& GetMoments(void) {return vMoments;}
155 : :
156 : : /** Gets the aerodynamic moment for an axis.
157 : : @return the moment about a single axis (as described also in the
158 : : similar call to GetForces(int n).*/
159 : 3 : double GetMoments(int n) const {return vMoments(n);}
160 : :
161 : : /** Retrieves the aerodynamic forces in the wind axes.
162 : : @return a reference to a column vector containing the wind axis forces. */
163 : 4909 : FGColumnVector3& GetvFw(void) { return vFw; }
164 : :
165 : : /** Retrieves the aerodynamic forces in the wind axes, given an axis.
166 : : @param axis the axis to return the force for (eX, eY, eZ).
167 : : @return a reference to a column vector containing the requested wind
168 : : axis force. */
169 : 5 : double GetvFw(int axis) const { return vFw(axis); }
170 : :
171 : : /** Retrieves the lift over drag ratio */
172 : 4910 : inline double GetLoD(void) const { return lod; }
173 : :
174 : : /** Retrieves the square of the lift coefficient. */
175 : 1 : inline double GetClSquared(void) const { return clsq; }
176 : 1 : inline double GetAlphaCLMax(void) const { return alphaclmax; }
177 : 1 : inline double GetAlphaCLMin(void) const { return alphaclmin; }
178 : :
179 : 1 : inline double GetHysteresisParm(void) const { return stall_hyst; }
180 : 1 : inline double GetStallWarn(void) const { return impending_stall; }
181 : 1 : double GetAlphaW(void) const { return alphaw; }
182 : :
183 : 1 : double GetBI2Vel(void) const { return bi2vel; }
184 : 1 : double GetCI2Vel(void) const { return ci2vel; }
185 : :
186 : 0 : inline void SetAlphaCLMax(double tt) { alphaclmax=tt; }
187 : 0 : inline void SetAlphaCLMin(double tt) { alphaclmin=tt; }
188 : :
189 : : /** Gets the strings for the current set of coefficients.
190 : : @param delimeter either a tab or comma string depending on output type
191 : : @return a string containing the descriptive names for all coefficients */
192 : : std::string GetCoefficientStrings(const std::string& delimeter) const;
193 : :
194 : : /** Gets the coefficient values.
195 : : @param delimeter either a tab or comma string depending on output type
196 : : @return a string containing the numeric values for the current set of
197 : : coefficients */
198 : : std::string GetCoefficientValues(const std::string& delimeter) const;
199 : :
200 : : /** Calculates and returns the wind-to-body axis transformation matrix.
201 : : @return a reference to the wind-to-body transformation matrix.
202 : : */
203 : : FGMatrix33& GetTw2b(void);
204 : :
205 : : /** Calculates and returns the body-to-wind axis transformation matrix.
206 : : @return a reference to the wind-to-body transformation matrix.
207 : : */
208 : : FGMatrix33& GetTb2w(void);
209 : :
210 : : std::vector <FGFunction*> * GetCoeff(void) const { return Coeff; }
211 : :
212 : : private:
213 : : enum eAxisType {atNone, atLiftDrag, atAxialNormal, atBodyXYZ} axisType;
214 : : typedef std::map<std::string,int> AxisIndex;
215 : : AxisIndex AxisIdx;
216 : : FGFunction* AeroRPShift;
217 : : typedef vector <FGFunction*> CoeffArray;
218 : : CoeffArray* Coeff;
219 : : FGColumnVector3 vFnative;
220 : : FGColumnVector3 vFw;
221 : : FGColumnVector3 vForces;
222 : : FGColumnVector3 vMoments;
223 : : FGColumnVector3 vDXYZcg;
224 : : FGColumnVector3 vDeltaRP;
225 : : FGMatrix33 mTw2b;
226 : : FGMatrix33 mTb2w;
227 : : double alphaclmax, alphaclmin;
228 : : double alphahystmax, alphahystmin;
229 : : double impending_stall, stall_hyst;
230 : : double bi2vel, ci2vel,alphaw;
231 : : double clsq, lod, qbar_area;
232 : :
233 : : typedef double (FGAerodynamics::*PMF)(int) const;
234 : : void DetermineAxisSystem(void);
235 : : void bind(void);
236 : :
237 : : void Debug(int from);
238 : : };
239 : :
240 : : } // namespace JSBSim
241 : :
242 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
243 : : #endif
244 : :
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