FGStateSpace Class Reference

Detailed Description

Definition at line 38 of file FGStateSpace.h.

Collaboration diagram for FGStateSpace:

Classes
class	AccelX
class	AccelY
class	AccelZ
class	Alpha
class	Alt
class	Beta
class	COG
class	Component
class	ComponentVector
class	DaCmd
class	DaPos
class	DeCmd
class	DePos
class	DrCmd
class	DrPos
class	Latitude
class	Longitude
class	P
class	Phi
class	Pi
class	PropPitch
class	Psi
class	Q
class	Qi
class	R
class	Ri
class	Rpm0
class	Rpm1
class	Rpm2
class	Rpm3
class	Theta
class	ThrottleCmd
class	ThrottlePos
class	Vd
class	Ve
class	VGround
class	Vn
class	Vt

Public Member Functions
	FGStateSpace (FGFDMExec *fdm)
void	clear ()
void	linearize (std::vector< double > x0, std::vector< double > u0, std::vector< double > y0, std::vector< std::vector< double > > &A, std::vector< std::vector< double > > &B, std::vector< std::vector< double > > &C, std::vector< std::vector< double > > &D)
void	run ()
void	setFdm (FGFDMExec *fdm)
double	stateSum ()

Public Attributes
ComponentVector	u
ComponentVector	x
ComponentVector	y

Constructor & Destructor Documentation

FGStateSpace()

FGStateSpace ( FGFDMExec *  fdm )

inline

Definition at line 219 of file FGStateSpace.h.

: x(fdm,this), u(fdm,this), y(fdm,this), m_fdm(fdm) {};

~FGStateSpace()

virtual ~FGStateSpace ( )

inlinevirtual

Definition at line 278 of file FGStateSpace.h.

{};

Member Function Documentation

clear()

void clear ( )

inline

Definition at line 271 of file FGStateSpace.h.

                 {
        x.clear();
        u.clear();
        y.clear();
    }

linearize()

void linearize	(	std::vector< double >	x0,
		std::vector< double >	u0,
		std::vector< double >	y0,
		std::vector< std::vector< double > > &	A,
		std::vector< std::vector< double > > &	B,
		std::vector< std::vector< double > > &	C,
		std::vector< std::vector< double > > &	D
	)

Definition at line 28 of file FGStateSpace.cpp.

{
    double h = 1e-4;
 
    // A, d(x)/dx
    numericalJacobian(A,x,x,x0,x0,h,true);
    // B, d(x)/du
    numericalJacobian(B,x,u,x0,u0,h,true);
    // C, d(y)/dx
    numericalJacobian(C,y,x,y0,x0,h);
    // D, d(y)/du
    numericalJacobian(D,y,u,y0,u0,h);
 
}

run()

void run ( )

inline

Definition at line 223 of file FGStateSpace.h.

               {
        // initialize
        m_fdm->Initialize(m_fdm->GetIC().get());
 
        for (unsigned int i=0; i<m_fdm->GetPropulsion()->GetNumEngines(); i++) {
            m_fdm->GetPropulsion()->GetEngine(i)->InitRunning();
        }
 
        // wait for stable state
        double cost = stateSum();
        for(int i=0;i<1000;i++) {
            m_fdm->GetPropulsion()->GetSteadyState();
            m_fdm->SetTrimStatus(true);
            m_fdm->DisableOutput();
            m_fdm->SuspendIntegration();
            m_fdm->Run();
            m_fdm->SetTrimStatus(false);
            m_fdm->EnableOutput();
            m_fdm->ResumeIntegration();
 
            double costNew = stateSum();
            double dcost = fabs(costNew - cost);
            if (dcost < std::numeric_limits<double>::epsilon()) {
                if(m_fdm->GetDebugLevel() > 1) {
                    FGLogging log(LogLevel::DEBUG);
                    log << "cost convergd, i: " << i << "\n";
                }
                break;
            }
            if (i > 1000) {
                if(m_fdm->GetDebugLevel() > 1) {
                    FGLogging log(LogLevel::DEBUG);
                    log << "cost failed to converge, dcost: "
                        << std::scientific
                        << dcost << "\n";
                }
                break;
            }
            cost = costNew;
        }
    }

setFdm()

void setFdm ( FGFDMExec *  fdm )

inline

Definition at line 221 of file FGStateSpace.h.

{ m_fdm = fdm; }

stateSum()

double stateSum ( )

inline

Definition at line 265 of file FGStateSpace.h.

                      {
        double sum = 0;
        for (unsigned int i=0;i<x.getSize();i++) sum += x.get(i);
        return sum;
    }

Member Data Documentation

u

ComponentVector u

Definition at line 216 of file FGStateSpace.h.

x

ComponentVector x

Definition at line 216 of file FGStateSpace.h.

y

ComponentVector y

Definition at line 216 of file FGStateSpace.h.

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

• FGStateSpace.h
• FGStateSpace.cpp