#include <instruments.h>

Inheritance diagram for AircraftInstruments:

Collaboration diagram for AircraftInstruments:

Public Types
enum	Measure { AIRSPEED = 1, GROUNDSPEED, ALTITUDE, ATTITUDE, BANK, TURN, SLIP, VERTICALSPEED, AOA, HEADING, LONGITUDE, LATITUDE, ROLLRATE, PITCHRATE, YAWRATE, LASTMEASURE }

Public Types inherited from Elem
enum	Type { UNKNOWN = -1, AIRPROPERTIES = 0, INDUCEDVELOCITY, AUTOMATICSTRUCTURAL, GRAVITY, BODY, JOINT, JOINT_REGULARIZATION, BEAM, PLATE, FORCE, INERTIA, ELECTRICBULK, ELECTRIC, THERMAL, HYDRAULIC, BULK, LOADABLE, DRIVEN, EXTERNAL, AEROMODAL, AERODYNAMIC, GENEL, SOCKETSTREAM_OUTPUT, RTAI_OUTPUT = SOCKETSTREAM_OUTPUT, LASTELEMTYPE }

Public Types inherited from SimulationEntity
typedef std::vector< Hint * >	Hints

Public Types inherited from ToBeOutput
enum	{ OUTPUT = 0x1U, OUTPUT_MASK = 0xFU, OUTPUT_PRIVATE = 0x10U, OUTPUT_PRIVATE_MASK = ~OUTPUT_MASK }

Public Types inherited from AerodynamicElem
enum	Type { UNKNOWN = -1, INDUCEDVELOCITY = 0, AEROMODAL, AERODYNAMICBODY, AERODYNAMICBEAM, AERODYNAMICEXTERNAL, AERODYNAMICEXTERNALMODAL, AERODYNAMICLOADABLE, AIRCRAFTINSTRUMENTS, GENERICFORCE, LASTAEROTYPE }

Public Member Functions
	AircraftInstruments (unsigned int uLabel, const DofOwner pDO, const StructNode pN, const Mat3x3 &R, flag fOut)

virtual	~AircraftInstruments (void)

virtual std::ostream &	Restart (std::ostream &out) const

virtual Elem::Type	GetElemType (void) const

virtual void	Output (OutputHandler &OH) const

virtual AerodynamicElem::Type	GetAerodynamicElemType (void) const

virtual void	WorkSpaceDim (integer piNumRows, integer piNumCols) const

virtual VariableSubMatrixHandler &	AssJac (VariableSubMatrixHandler &WorkMat, doublereal, const VectorHandler &, const VectorHandler &)

virtual SubVectorHandler &	AssRes (SubVectorHandler &WorkVec, doublereal dCoef, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)

virtual unsigned int	iGetNumPrivData (void) const

virtual unsigned int	iGetPrivDataIdx (const char *s) const

virtual doublereal	dGetPrivData (unsigned int i) const

virtual void	GetConnectedNodes (std::vector< const Node * > &connectedNodes) const

Public Member Functions inherited from Elem
	Elem (unsigned int uL, flag fOut)

virtual	~Elem (void)

virtual unsigned int	iGetNumDof (void) const

virtual std::ostream &	DescribeDof (std::ostream &out, const char *prefix="", bool bInitial=false) const

virtual void	DescribeDof (std::vector< std::string > &desc, bool bInitial=false, int i=-1) const

virtual std::ostream &	DescribeEq (std::ostream &out, const char *prefix="", bool bInitial=false) const

virtual void	DescribeEq (std::vector< std::string > &desc, bool bInitial=false, int i=-1) const

virtual DofOrder::Order	GetDofType (unsigned int) const

virtual void	AssMats (VariableSubMatrixHandler &WorkMatA, VariableSubMatrixHandler &WorkMatB, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)

virtual bool	bInverseDynamics (void) const

void	SetInverseDynamicsFlags (unsigned uIDF)

unsigned	GetInverseDynamicsFlags (void) const

bool	bIsErgonomy (void) const

bool	bIsRightHandSide (void) const

virtual VariableSubMatrixHandler &	AssJac (VariableSubMatrixHandler &WorkMat, const VectorHandler &XCurr)

virtual SubVectorHandler &	AssRes (SubVectorHandler &WorkVec, const VectorHandler &XCurr, const VectorHandler &XPrimeCurr, const VectorHandler &XPrimePrimeCurr, InverseDynamics::Order iOrder=InverseDynamics::INVERSE_DYNAMICS)

virtual int	GetNumConnectedNodes (void) const

Public Member Functions inherited from WithLabel
	WithLabel (unsigned int uL=0, const std::string &sN="")

virtual	~WithLabel (void)

void	PutLabel (unsigned int uL)

void	PutName (const std::string &sN)

unsigned int	GetLabel (void) const

const std::string &	GetName (void) const

Public Member Functions inherited from SimulationEntity
	SimulationEntity (void)

virtual	~SimulationEntity (void)

virtual bool	bIsValidIndex (unsigned int i) const

virtual DofOrder::Order	GetEqType (unsigned int i) const

virtual void	SetValue (DataManager pDM, VectorHandler &X, VectorHandler &XP, SimulationEntity::Hints h=0)

virtual Hint *	ParseHint (DataManager pDM, const char s) const

virtual void	BeforePredict (VectorHandler &, VectorHandler &, VectorHandler &, VectorHandler &) const

virtual void	AfterPredict (VectorHandler &X, VectorHandler &XP)

virtual void	Update (const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)

virtual void	DerivativesUpdate (const VectorHandler &XCurr, const VectorHandler &XPrimeCurr)

virtual void	Update (const VectorHandler &XCurr, InverseDynamics::Order iOrder)

virtual void	AfterConvergence (const VectorHandler &X, const VectorHandler &XP)

virtual void	AfterConvergence (const VectorHandler &X, const VectorHandler &XP, const VectorHandler &XPP)

virtual std::ostream &	OutputAppend (std::ostream &out) const

virtual void	ReadInitialState (MBDynParser &HP)

Public Member Functions inherited from ToBeOutput
	ToBeOutput (flag fOut=fDefaultOut)

virtual	~ToBeOutput (void)

virtual void	OutputPrepare (OutputHandler &OH)

virtual void	Output (OutputHandler &OH, const VectorHandler &X, const VectorHandler &XP) const

virtual flag	fToBeOutput (void) const

virtual bool	bToBeOutput (void) const

virtual void	SetOutputFlag (flag f=flag(1))

Public Member Functions inherited from AerodynamicElem
	AerodynamicElem (unsigned int uL, const DofOwner *pDO, flag fOut)

virtual	~AerodynamicElem (void)

virtual bool	NeedsAirProperties (void) const

virtual const InducedVelocity *	pGetInducedVelocity (void) const

Public Member Functions inherited from ElemWithDofs
	ElemWithDofs (unsigned int uL, const DofOwner *pDO, flag fOut)

virtual	~ElemWithDofs (void)

Public Member Functions inherited from DofOwnerOwner
	DofOwnerOwner (const DofOwner *pDO)

virtual	~DofOwnerOwner ()

virtual const DofOwner *	pGetDofOwner (void) const

virtual integer	iGetFirstIndex (void) const

virtual void	SetInitialValue (VectorHandler &X)

Public Member Functions inherited from AirPropOwner
	AirPropOwner (void)

virtual	~AirPropOwner (void)

virtual void	PutAirProperties (const AirProperties *pAP)

virtual flag	fGetAirVelocity (Vec3 &Velocity, const Vec3 &X) const

virtual doublereal	dGetAirDensity (const Vec3 &X) const

virtual doublereal	dGetAirPressure (const Vec3 &X) const

virtual doublereal	dGetAirTemperature (const Vec3 &X) const

virtual doublereal	dGetSoundSpeed (const Vec3 &X) const

virtual bool	GetAirProps (const Vec3 &X, doublereal &rho, doublereal &c, doublereal &p, doublereal &T) const

Protected Member Functions
void	Update (void)

Protected Attributes
const StructNode *	pNode

Mat3x3	Rh

doublereal	dMeasure [LASTMEASURE]

Protected Attributes inherited from WithLabel
unsigned int	uLabel

std::string	sName

Protected Attributes inherited from ToBeOutput
flag	fOutput

Protected Attributes inherited from AirPropOwner
const AirProperties *	pAirProperties

Detailed Description

Definition at line 39 of file instruments.h.

Member Enumeration Documentation

enum AircraftInstruments::Measure

Enumerator
AIRSPEED
GROUNDSPEED
ALTITUDE
ATTITUDE
BANK
TURN
SLIP
VERTICALSPEED
AOA
HEADING
LONGITUDE
LATITUDE
ROLLRATE
PITCHRATE
YAWRATE
LASTMEASURE

Definition at line 41 of file instruments.h.

                      {
                 AIRSPEED = 1,
                 GROUNDSPEED,
                 ALTITUDE,
                 ATTITUDE,
                 BANK,
                 TURN,
                 SLIP,
                 VERTICALSPEED,
                 AOA,
                 HEADING,
                 LONGITUDE,
                 LATITUDE,
 
                 ROLLRATE,
                 PITCHRATE,
                 YAWRATE,
 
                 LASTMEASURE
         };

Constructor & Destructor Documentation

AircraftInstruments::AircraftInstruments	(	unsigned int	uLabel,
		const DofOwner *	pDO,
		const StructNode *	pN,
		const Mat3x3 &	R,
		flag	fOut
	)

Definition at line 39 of file instruments.cc.

References dMeasure.

 : Elem(uLabel, fOut),
 AerodynamicElem(uLabel, pDO, fOut),
 pNode(pN),
 Rh(R)
 {
         memset(&dMeasure[0], 0, sizeof(dMeasure));
 }

AircraftInstruments::~AircraftInstruments ( void )

virtual

Definition at line 50 of file instruments.cc.

References NO_OP.

 {
         NO_OP;
 }

Member Function Documentation

VariableSubMatrixHandler & AircraftInstruments::AssJac	(	VariableSubMatrixHandler &	WorkMat,
		doublereal	,
		const VectorHandler &	,
		const VectorHandler &
	)

virtual

Implements Elem.

Definition at line 178 of file instruments.cc.

References DEBUGCOUTFNAME, and VariableSubMatrixHandler::SetNullMatrix().

 {
         DEBUGCOUTFNAME("AircraftInstruments::AssJac");
 
         WorkMat.SetNullMatrix();
 
         return WorkMat;
 }

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SubVectorHandler & AircraftInstruments::AssRes	(	SubVectorHandler &	WorkVec,
		doublereal	dCoef,
		const VectorHandler &	XCurr,
		const VectorHandler &	XPrimeCurr
	)

virtual

Implements Elem.

Definition at line 192 of file instruments.cc.

References VectorHandler::Resize(), and Update().

 {
         WorkVec.Resize(0);
 
         Update();
 
         return WorkVec;
 }

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doublereal AircraftInstruments::dGetPrivData ( unsigned int i ) const

virtual

Reimplemented from SimulationEntity.

Definition at line 249 of file instruments.cc.

References dMeasure, WithLabel::GetLabel(), LASTMEASURE, and MBDYN_EXCEPT_ARGS.

 {
         if (i <= 0 || i >= LASTMEASURE) {
                 silent_cerr("AircraftInstruments(" << GetLabel() << "): "
                         "illegal measure " << i << std::endl);
                 throw ErrGeneric(MBDYN_EXCEPT_ARGS);
         }
 
         return dMeasure[i];
 }

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virtual AerodynamicElem::Type AircraftInstruments::GetAerodynamicElemType ( void ) const

inlinevirtual

Implements AerodynamicElem.

Definition at line 91 of file instruments.h.

References AerodynamicElem::AIRCRAFTINSTRUMENTS.

                                                                        {
                 return AerodynamicElem::AIRCRAFTINSTRUMENTS;
         };

void AircraftInstruments::GetConnectedNodes ( std::vector< const Node * > & connectedNodes ) const

virtual

Reimplemented from Elem.

Definition at line 261 of file instruments.cc.

References pNode.

 {
         connectedNodes.resize(1);
         connectedNodes[0] = pNode;
 }

Elem::Type AircraftInstruments::GetElemType ( void ) const

virtual

Implements Elem.

Definition at line 56 of file instruments.cc.

References Elem::AERODYNAMIC.

 {
         return Elem::AERODYNAMIC;
 }

unsigned int AircraftInstruments::iGetNumPrivData ( void ) const

virtual

Reimplemented from SimulationEntity.

Definition at line 206 of file instruments.cc.

References LASTMEASURE.

 {
         return LASTMEASURE-1;
 }

unsigned int AircraftInstruments::iGetPrivDataIdx ( const char * s ) const

virtual

Reimplemented from SimulationEntity.

Definition at line 212 of file instruments.cc.

References AIRSPEED, ALTITUDE, AOA, ASSERT, ATTITUDE, BANK, GROUNDSPEED, HEADING, LATITUDE, LONGITUDE, PITCHRATE, ROLLRATE, SLIP, TURN, VERTICALSPEED, and YAWRATE.

 {
         ASSERT(s != NULL);
 
         struct {
                 const char *s;
                 int i;
         } s2i[] = {
                 { "airspeed", AIRSPEED },
                 { "ground" "speed", GROUNDSPEED },
                 { "altitude", ALTITUDE },
                 { "attitude", ATTITUDE },
                 { "bank", BANK },
                 { "turn", TURN },
                 { "slip", SLIP },
                 { "vertical" "speed", VERTICALSPEED},
                 { "angle" "of" "attack", AOA },
                 { "aoa", AOA },
                 { "heading", HEADING },
                 { "longitude", LONGITUDE },
                 { "latitude", LATITUDE },
                 { "rollrate", ROLLRATE },
                 { "pitchrate", PITCHRATE },
                 { "yawrate", YAWRATE },
                 { 0 }
         };
 
         for (int i = 0; s2i[i].s != 0; i++) {
                 if (strcasecmp(s, s2i[i].s) == 0) {
                         return s2i[i].i;
                 }
         }
 
         return 0;
 }

void AircraftInstruments::Output ( OutputHandler & OH ) const

virtual

Reimplemented from ToBeOutput.

Definition at line 154 of file instruments.cc.

References OutputHandler::Aerodynamic(), ToBeOutput::bToBeOutput(), dMeasure, WithLabel::GetLabel(), and LASTMEASURE.

 {
         if (bToBeOutput()) {
                 std::ostream& out = OH.Aerodynamic()
                         << std::setw(8) << GetLabel();
 
                 for (int iCnt = 1; iCnt < LASTMEASURE; iCnt++) {
                         out << " " << dMeasure[iCnt];
                 }
 
                 out << std::endl;
         }
 }

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std::ostream & AircraftInstruments::Restart ( std::ostream & out ) const

virtual

Implements Elem.

Definition at line 143 of file instruments.cc.

References WithLabel::GetLabel(), pNode, Rh, and Mat3x3::Write().

 {
         out << "aircraft instruments: " << GetLabel()
                 << ", " << pNode->GetLabel() 
                 << ", orientation, ", Rh.Write(out)
                 << ";" << std::endl;
 
         return out;
 }

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void AircraftInstruments::Update ( void )

protected

Definition at line 62 of file instruments.cc.

References AIRSPEED, ALTITUDE, AOA, grad::atan2(), ATTITUDE, BANK, dMeasure, AirPropOwner::fGetAirVelocity(), StructNode::GetRCurr(), StructDispNode::GetVCurr(), Mat3x3::GetVec(), StructNode::GetWCurr(), StructDispNode::GetXCurr(), GROUNDSPEED, HEADING, LATITUDE, LONGITUDE, Mat3x3::MulTV(), PITCHRATE, pNode, R, Rh, ROLLRATE, SLIP, TURN, VERTICALSPEED, YAWRATE, and Zero3.

Referenced by AssRes().

 {
         const Vec3& X(pNode->GetXCurr());
         const Mat3x3& R(pNode->GetRCurr()*Rh);
         const Vec3& V(pNode->GetVCurr());
         const Vec3& Omega(pNode->GetWCurr());
         Vec3 VV = V;
         const Vec3 e1(R.GetVec(1));
         const Vec3 e2(R.GetVec(2));
         const Vec3 e3(R.GetVec(3));
 
         /*
          * Assumptions:
          * - world is "flat"
          * - world "z" is positive upward
          * (flight mechanics conventions?)
          * - aircraft "x" is positive forward
          * - aircraft "z" is positive downward
          * - aircraft "y" is positive towards the right of the pilot
          * - pitch is positive nose up
          * - roll is positive right wing down
          * - yaw is positive right wing backward
          */
 
         Vec3 VTmp(Zero3);
         if (fGetAirVelocity(VTmp, X)) {
                 VV -= VTmp;
         }
 
         /* airspeed */
         dMeasure[AIRSPEED] = VV.Norm();
 
         /* groundspeed */
         VTmp = V;
         VTmp(3) = 0.;
         dMeasure[GROUNDSPEED] = VTmp.Norm();
 
         /* altitude */
         dMeasure[ALTITUDE] = X(3);
 
         /* attitude */
         /* FIXME: better asin(e1(3)) ? */
         dMeasure[ATTITUDE] = std::atan2(e1(3), e1(1));
 
         /* bank */
         /* FIXME: better asin(e2(3)) ? */
         dMeasure[BANK] = -std::atan2(e2(3), e2(2));
 
         /* turn */
         dMeasure[TURN] = 0.;    /* FIXME */
 
         /* slip */
         dMeasure[SLIP] = 0.;    /* FIXME */
 
         /* vertical speed */
         dMeasure[VERTICALSPEED] = VV(3);
 
         /* angle of attack */
         VTmp = R.MulTV(VV);
         dMeasure[AOA] = std::atan2(VTmp(3), VTmp(1));
 
         /* heading */
         /* FIXME: assumes a flat world! N={1,0,0}, W={0,1,0} */
         dMeasure[HEADING] = -std::atan2(e1(2), e1(1));
 
         /* longitude */
         /* FIXME: ??? */
         dMeasure[LONGITUDE] = -X(2);    // /EARTH_RADIUS?
 
         /* latitude */
         /* FIXME: ??? */
         dMeasure[LATITUDE] = X(1);      // /EARTH_RADIUS?
 
         VTmp = R.MulTV(Omega);
         dMeasure[ROLLRATE] = VTmp(1);
         dMeasure[PITCHRATE] = VTmp(2);
         dMeasure[YAWRATE] = VTmp(3);
 }

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void AircraftInstruments::WorkSpaceDim	(	integer *	piNumRows,
		integer *	piNumCols
	)		const

virtual

Implements Elem.

Definition at line 170 of file instruments.cc.

 {
         *piNumRows = 0;
         *piNumCols = 0;
 }

Member Data Documentation

doublereal AircraftInstruments::dMeasure[LASTMEASURE]

protected

Definition at line 66 of file instruments.h.

Referenced by AircraftInstruments(), dGetPrivData(), Output(), and Update().

const StructNode* AircraftInstruments::pNode

protected

Definition at line 63 of file instruments.h.

Referenced by GetConnectedNodes(), Restart(), and Update().

Mat3x3 AircraftInstruments::Rh

protected

Definition at line 64 of file instruments.h.

Referenced by Restart(), and Update().

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation