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
11  Software Foundation; either version 2 of the License, or (at your option) any
12  later 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
20  with this program; if not, write to the Free Software Foundation, Inc., 59
21  Temple Place - Suite 330, Boston, MA 02111-1307, USA.
22 
23  Further information about the GNU Lesser General Public License can also be
24  found on 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 
42 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
43 FORWARD DECLARATIONS
44 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
45 
46 namespace JSBSim {
47 
48 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
49 CLASS DOCUMENTATION
50 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
51 
52 /** Encapsulates a kinematic (mechanical) component for the flight control
53 system.  This component models the action of a moving effector, such as an
54 aerosurface or other mechanized entity such as a landing gear strut for the
55 purpose of effecting vehicle control or configuration. The form of the component
56 specification is:
57 
58 @code
59 <kinematic name="Gear Control">
60   <input> [-]property </input>
61   [<noscale/>]
62   <traverse>
63     <setting>
64       <position> number </position>
65       <time> number </time>
66     </setting>
67     ...
68   </traverse>
69   [<clipto>
70     <min> {[-]property name | value} </min>
71     <max> {[-]property name | value} </max>
72   </clipto>]
73   [<gain> {property name | value} </gain>]
74   [<output> {property} </output>]
75 </kinematic>
76 @endcode
77 
78 The detent is the position that the component takes, and the lag is the time it
79 takes to get to that position from an adjacent setting. For example:
80 
81 @code
82 <kinematic name="Gear Control">
83   <input>gear/gear-cmd-norm</input>
84   <traverse>
85     <setting>
86       <position>0</position>
87       <time>0</time>
88     </setting>
89     <setting>
90       <position>1</position>
91       <time>5</time>
92     </setting>
93   </traverse>
94   <output>gear/gear-pos-norm</output>
95 </kinematic>
96 @endcode
97 
98 In this case, it takes 5 seconds to get to a 1 setting. As this is a software
99 mechanization of a servo-actuator, there should be an output specified.
100 
101 Positions must be given in ascending order.
102 
103 By default, the input is assumed to be in the range [-1;1] and is scaled to the
104 value specified in the last <position> tag. This behavior can be modified by
105 adding a <noscale/> tag to the component definition: in that case, the input
106 value is directly used to determine the current position of the component.
107   */
108 
109 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
110 CLASS DECLARATION
111 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
112 
113 class FGKinemat  : public FGFCSComponent {
114 public:
115   /** Constructor.
116       @param fcs A reference to the current flight control system.
117       @param element reference to the current configuration file node.
118    */
119   FGKinemat(FGFCS* fcs, Element* element);
120 
121   /// Destructor.
122   ~FGKinemat();
123 
124   /** Kinematic component output value.
125       @return the current output of the kinematic object on the range of [0,1]. */
GetOutputPct()126   double GetOutputPct() const override
127   { return (Output-Detents[0])/(Detents.back()-Detents[0]); }
128 
129   /** Run method, overrides FGModel::Run().
130       @return false on success, true on failure.
131       The routine doing the work.  */
132   bool Run (void) override;
133 
134 private:
135   std::vector<double> Detents;
136   std::vector<double> TransitionTimes;
137   bool  DoScale;
138 
139   void Debug(int from) override;
140 };
141 }
142 #endif
143