C++ Player::getAltitude方法代码示例

// Dynamics model interface - all input values in meters
bool LaeroModel::setCommandedAltitude(const double a, const double aMps, const double maxPitch)
{
   //-------------------------------------------------------
   // get data pointers
   //-------------------------------------------------------
   Simulation::Player* pPlr = static_cast<Simulation::Player*>( findContainerByType(typeid(Simulation::Player)) );

   bool ok = (pPlr != nullptr);
   if (ok) {

      //-------------------------------------------------------
      // define local constants
      //-------------------------------------------------------
      const double TAU            = 4.0;  // time constant [sec]

      //-------------------------------------------------------
      // get current alt error (mtr)
      //-------------------------------------------------------
      double altMtr     = pPlr->getAltitude();
      double altErrMtr = a - altMtr;

      //-------------------------------------------------------
      // get alt error break point (mtr)
      //-------------------------------------------------------
      double altDotCmdMps = aMps;
      double altErrBrkMtr = altDotCmdMps * TAU;

      //-------------------------------------------------------
      // get commanded altDot (mps)
      //-------------------------------------------------------
      double altDotMps = sign(altErrMtr) * altDotCmdMps;
      if (std::abs(altErrMtr) < altErrBrkMtr) {
         altDotMps = altErrMtr * (altDotCmdMps / altErrBrkMtr);
      }

      //-------------------------------------------------------
      // assign result to altitude control
      //-------------------------------------------------------
      double thtCmdDeg = (altDotMps / u) * Basic::Angle::R2DCC;
      // SLS - TO DO: Limit commanded pitch to max pitch angle as well.
      ok = flyTht(thtCmdDeg);
   }

   return ok;
}

//------------------------------------------------------------------------------
// reset() -- 
//------------------------------------------------------------------------------
void JSBSimModel::reset()
{
    BaseClass::reset();

    pitchTrimPos  = (LCreal)0.0;
    pitchTrimRate = (LCreal)0.1;
    pitchTrimSw   = (LCreal)0.0;
    rollTrimPos   = (LCreal)0.0;
    rollTrimRate  = (LCreal)0.1;
    rollTrimSw    = (LCreal)0.0;

    // Get our Player (must have one!)
    Simulation::Player* p = static_cast<Simulation::Player*>( findContainerByType(typeid(Simulation::Player)) );
    if (p == 0) return;

    // must have strings set
    if (rootDir == 0 || model == 0) return;

    // Must also have the JSBSim object
    if (fdmex == 0) {
        // must have a JSBSim property manager
        if (propMgr == 0) {
            propMgr = new JSBSim::FGPropertyManager();
        }
        fdmex = new JSBSim::FGFDMExec(propMgr);

        std::string RootDir(rootDir->getString());
        fdmex->SetAircraftPath(RootDir + "aircraft");
        fdmex->SetEnginePath(RootDir + "engine");
        fdmex->SetSystemsPath(RootDir + "systems"); // JSBSim-1.0 or after only

        fdmex->LoadModel(model->getString());
        JSBSim::FGPropertyManager* propMgr = fdmex->GetPropertyManager();
        if (propMgr != 0) {
            hasHeadingHold = propMgr->HasNode("ap/heading_hold") && propMgr->HasNode("ap/heading_setpoint");
            hasVelocityHold = propMgr->HasNode("ap/airspeed_hold") && propMgr->HasNode("ap/airspeed_setpoint");
            hasAltitudeHold = propMgr->HasNode("ap/altitude_hold") && propMgr->HasNode("ap/altitude_setpoint");
#if 0
            // CGB this isn't working for some reason. I set the values directly in "dynamics" for now.
            if (hasHeadingHold) {
                propMgr->Tie("ap/heading_hold", this, &JSBSimModel::isHeadingHoldOn);
                propMgr->Tie("ap/heading_setpoint", this, &JSBSimModel::getCommandedHeadingD);
            }
            if (hasVelocityHold) {
                propMgr->Tie("ap/airspeed_hold", this, &JSBSimModel::isVelocityHoldOn);
                propMgr->Tie("ap/airspeed_setpoint", this, &JSBSimModel::getCommandedVelocityKts);
            }
            if (hasAltitudeHold) {
                propMgr->Tie("ap/altitude_hold", this, &JSBSimModel::isAltitudeHoldOn);
                propMgr->Tie("ap/altitude_setpoint", this, &JSBSimModel::getCommandedAltitude * Basic::Distance::M2FT);
            }
#endif
        }
    }
    
#if 0
    // CGB TBD
    reset = 0;
    freeze = 0;
#endif
    JSBSim::FGInitialCondition* fgic = fdmex->GetIC();
    if (fgic == 0) return;

    fgic->SetAltitudeASLFtIC(Basic::Distance::M2FT * p->getAltitude());

#if 0
    fgic->SetTrueHeadingDegIC(Basic::Angle::R2DCC * p->getHeading());
    fgic->SetRollAngleDegIC(Basic::Angle::R2DCC * p->getRoll());
    fgic->SetPitchAngleDegIC(Basic::Angle::R2DCC * p->getPitch());
#else
    fgic->SetPsiDegIC(Basic::Angle::R2DCC * p->getHeading());
    fgic->SetPhiDegIC(Basic::Angle::R2DCC * p->getRoll());
    fgic->SetThetaDegIC(Basic::Angle::R2DCC * p->getPitch());
#endif
    fgic->SetVtrueKtsIC(Basic::Distance::M2NM * p->getTotalVelocity() * 3600.0f);
    fgic->SetLatitudeDegIC(p->getInitLatitude());
    fgic->SetLongitudeDegIC(p->getInitLongitude());

    JSBSim::FGPropulsion* Propulsion = fdmex->GetPropulsion();
    JSBSim::FGFCS* FCS = fdmex->GetFCS();
    if (Propulsion != 0 && FCS != 0) {
        Propulsion->SetMagnetos(3);
        for (unsigned int i=0; i < Propulsion->GetNumEngines(); i++) {
            FCS->SetMixtureCmd(i, 1.0);
            FCS->SetThrottleCmd(i, 1.0);
            FCS->SetPropAdvanceCmd(i, 1.0);
            FCS->SetMixturePos(i, 1.0);
            FCS->SetThrottlePos(i, 1.0);
            FCS->SetPropAdvance(i, 1.0);
            JSBSim::FGEngine* eng = Propulsion->GetEngine(i);
            eng->SetRunning(true);
            JSBSim::FGThruster* thruster = eng->GetThruster();
            thruster->SetRPM(1000.0);
        }
        Propulsion->SetFuelFreeze(p->isFuelFrozen());
        Propulsion->InitRunning(-1);     // -1 refers to "All Engines"
        Propulsion->GetSteadyState();
//.........这里部分代码省略.........