FGTrim.h

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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
 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>
 
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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