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