Branch data Line data Source code
1 : : /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
2 : :
3 : : Header: FGKinemat.h
4 : : Author: Tony Peden, for flight control system authored by Jon S. Berndt
5 : : Date started: 12/02/01
6 : :
7 : : ------------- Copyright (C) Anthony K. Peden -------------
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 : :
29 : : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
30 : : SENTRY
31 : : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
32 : :
33 : : #ifndef FGKinemat_H
34 : : #define FGKinemat_H
35 : :
36 : : /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
37 : : INCLUDES
38 : : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
39 : :
40 : : #include "FGFCSComponent.h"
41 : : #include <vector>
42 : :
43 : : /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
44 : : DEFINITIONS
45 : : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
46 : :
47 : : #define ID_FLAPS "$Id: FGKinemat.h,v 1.10 2009/10/24 22:59:30 jberndt Exp $"
48 : :
49 : : /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
50 : : FORWARD DECLARATIONS
51 : : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
52 : :
53 : : namespace JSBSim {
54 : :
55 : : /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
56 : : CLASS DOCUMENTATION
57 : : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
58 : :
59 : : /** Encapsulates a kinematic (mechanical) component for the flight control system.
60 : : This component models the action of a moving effector, such as an aerosurface or
61 : : other mechanized entity such as a landing gear strut for the purpose of effecting
62 : : vehicle control or configuration. The form of the component specification is:
63 : :
64 : : @code
65 : : <kinematic name="Gear Control">
66 : : <input> [-]property </input>
67 : : <traverse>
68 : : <setting>
69 : : <position> number </position>
70 : : <time> number </time>
71 : : </setting>
72 : : ...
73 : : </traverse>
74 : : [<clipto>
75 : : <min> {[-]property name | value} </min>
76 : : <max> {[-]property name | value} </max>
77 : : </clipto>]
78 : : [<gain> {property name | value} </gain>]
79 : : [<output> {property} </output>]
80 : : </kinematic>
81 : : @endcode
82 : :
83 : : The detent is the position that the component takes, and the lag is the time it
84 : : takes to get to that position from an adjacent setting. For example:
85 : :
86 : : @code
87 : : <kinematic name="Gear Control">
88 : : <input>gear/gear-cmd-norm</input>
89 : : <traverse>
90 : : <setting>
91 : : <position>0</position>
92 : : <time>0</time>
93 : : </setting>
94 : : <setting>
95 : : <position>1</position>
96 : : <time>5</time>
97 : : </setting>
98 : : </traverse>
99 : : <output>gear/gear-pos-norm</output>
100 : : </kinematic>
101 : : @endcode
102 : :
103 : : In this case, it takes 5 seconds to get to a 1 setting. As this is a software
104 : : mechanization of a servo-actuator, there should be an output specified.
105 : : */
106 : :
107 : : /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
108 : : CLASS DECLARATION
109 : : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
110 : :
111 : : class FGKinemat : public FGFCSComponent {
112 : : public:
113 : : /** Constructor.
114 : : @param fcs A reference to the current flight control system.
115 : : @param element reference to the current configuration file node.
116 : : */
117 : : FGKinemat(FGFCS* fcs, Element* element);
118 : :
119 : : /// Destructor.
120 : : ~FGKinemat();
121 : :
122 : : /** Kinematic component output value.
123 : : @return the current output of the kinematic object on the range of [0,1]. */
124 : 0 : double GetOutputPct() const { return OutputPct; }
125 : :
126 : : /** Run method, overrides FGModel::Run().
127 : : @return false on success, true on failure.
128 : : The routine doing the work. */
129 : : bool Run (void);
130 : :
131 : : private:
132 : : std::vector<double> Detents;
133 : : std::vector<double> TransitionTimes;
134 : : int NumDetents;
135 : : double OutputPct;
136 : : bool DoScale;
137 : :
138 : : void Debug(int from);
139 : : };
140 : : }
141 : : #endif
|
