FGTrim.h

/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

 Header:       FGTrim.h
 Author:       Tony Peden
 Date started: 7/1/99

 ------------- Copyright (C) 1999  Anthony K. Peden (apeden@earthlink.net) -------------

 This program is free software; you can redistribute it and/or modify it under
 the terms of the GNU Lesser 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 Lesser General Public License for more
 details.

 You should have received a copy of the GNU Lesser 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 Lesser General Public License can also be found on
 the world wide web at http://www.gnu.org.


 HISTORY
--------------------------------------------------------------------------------
9/8/99   TP   Created


FUNCTIONAL DESCRIPTION
--------------------------------------------------------------------------------

This class takes the given set of IC's and finds the aircraft state required to
maintain a specified flight condition.  This flight condition can be
steady-level with non-zero sideslip, a steady turn, a pull-up or pushover.
On-ground conditions can be trimmed as well, but this is currently limited to
adjusting altitude and pitch angle only. It is implemented using an iterative,
one-axis-at-a-time scheme.

%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
SENTRY
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/

#ifndef FGTRIM_H
#define FGTRIM_H

/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
INCLUDES
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/

#include "FGFDMExec.h"
#include "FGJSBBase.h"
#include "FGTrimAxis.h"

#include <vector>

/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
DEFINITIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/

#define ID_TRIM "$Id: FGTrim.h,v 1.11 2014/05/01 18:32:54 bcoconni Exp $"

/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FORWARD DECLARATIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/

namespace JSBSim {

typedef enum { tLongitudinal=0, tFull, tGround, tPullup,
               tCustom, tTurn, tNone } TrimMode;

/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DOCUMENTATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/

/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DECLARATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/

class FGTrim : public FGJSBBase
{
private:

  std::vector<FGTrimAxis> TrimAxes;
  unsigned int Nsub;
  TrimMode mode;
  int DebugLevel, Debug;
  double Tolerance, A_Tolerance;
  std::vector<double> sub_iterations, successful;
  std::vector<bool> solution;
  unsigned int max_sub_iterations;
  unsigned int max_iterations;
  unsigned int total_its;
  bool gamma_fallback;
  int solutionDomain;
  double xlo,xhi,alo,ahi;
  double targetNlf;
  int debug_axis;

  double psidot;

  FGFDMExec* fdmex;
  FGInitialCondition fgic;

  bool solve(FGTrimAxis& axis);

  bool findInterval(FGTrimAxis& axis);

  bool checkLimits(FGTrimAxis& axis);

  void setupPullup(void);
  void setupTurn(void);

  void updateRates(void);
  void setDebug(FGTrimAxis& axis);

  struct ContactPoints {
    FGColumnVector3 location;
    FGColumnVector3 normal;
  };

  struct RotationParameters {
    double angleMin;
    std::vector<ContactPoints>::iterator contactRef;
  };

  void trimOnGround(void);
  RotationParameters calcRotation(std::vector<ContactPoints>& contacts,
                                  const FGColumnVector3& rotationAxis,
                                  const FGColumnVector3& contact0);

public:
  FGTrim(FGFDMExec *FDMExec, TrimMode tm=tGround );

  ~FGTrim(void);

  bool DoTrim(void);

  void Report(void);

  void TrimStats();

  void SetMode(TrimMode tm);

  void ClearStates(void);

  bool AddState( State state, Control control );

  bool RemoveState( State state );

  bool EditState( State state, Control new_control );

  inline void SetGammaFallback(bool bb) { gamma_fallback=bb; }

  inline bool GetGammaFallback(void) { return gamma_fallback; }

  inline void SetMaxCycles(int ii) { max_iterations = ii; }

  inline void SetMaxCyclesPerAxis(int ii) { max_sub_iterations = ii; }

  inline void SetTolerance(double tt) {
    Tolerance = tt;
    A_Tolerance = tt / 10;
  }

  inline void SetDebug(int level) { DebugLevel = level; }
  inline void ClearDebug(void) { DebugLevel = 0; }

  inline void DebugState(State state) { debug_axis=state; }

  inline void SetTargetNlf(double nlf) { targetNlf=nlf; }
  inline double GetTargetNlf(void) { return targetNlf; }

};
}

#endif