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67 lines
1.8 KiB
C++
67 lines
1.8 KiB
C++
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/************************************************************************
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PURPOSE: (Simulate a ... .)
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LIBRARY DEPENDENCIES:
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((CrewModule/src/CrewModuleDynamics.o)((CrewModule/src/CrewModuleShape.o)))
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**************************************************************************/
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#ifndef CREW_MODULE_DYNAMICS_HH
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#define CREW_MODULE_DYNAMICS_HH
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#include "../include/CrewModuleShape.hh"
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class CrewModuleDynamics {
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public:
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double R[3][3]; /* (--) Vehicle body to World rotation matrix. */
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double Rdot[3][3];
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double angular_velocity[3];
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double I_body[3][3]; /* (kg*m2) Inertia Tensor in Body frame. */
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double I_body_inverse[3][3];
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double momentum[3]; /* (kg*m/s) Linear Momentum */
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double force_total[3];
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double force_gravity[3];
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double force_buoyancy[3];
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double force_drag[3];
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double position[3]; // (m) Position (world coordinates).
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double velocity[3]; // (m/s) Velocity (world coordinates).
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double mass_vehicle; // (kg) Vehicle mass
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double angular_momentum[3]; /* (kg*m2/s) Angular Momentum */
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double torque_buoyancy[3];
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double torque_drag[3];
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double torque_total[3];
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double center_of_buoyancy[3];
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double volume_displaced;
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double mass_displaced;
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CrewModuleShape crewModuleShape;
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CrewModuleDynamics();
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void init_defaults();
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void calcVolumeAndCenterOfBuoyancy();
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void calcVelocity();
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void calcRDot();
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void calcAngularVelocity();
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void calcTotalTorque();
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void calcBuoyancyTorque();
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void calcDragTorque();
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void calcMassDisplaced();
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void calcTotalForce();
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void calcBuoyancyForce();
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void calcGravityForce();
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void calcDragForce();
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int calc_derivatives();
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int calc_state();
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};
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#endif
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