/* $Id$
*
* This file is a part of jPapaBench providing a Java implementation
* of PapaBench project.
* Copyright (C) 2010 Michal Malohlava <michal.malohlava_at_d3s.mff.cuni.cz>
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU 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 General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
*
*/
package papabench.core.autopilot.data;
/**
* Structure holding airplane attitude.
*
* The values of fields should be expressed in radians.
*
* For information about flight dynamics see <a
* href="http://inventors.about.com/library/inventors/blairplanedynamics.htm"
* >this article</a> or <a href="http://en.wikipedia.org/wiki/Flight_dynamicss">
* wikipedia</a> or <a href="http://www.princeton.edu/~stengel/MAE331Lectures.html">this page</a>.
*
* @author Michal Malohlava
*
*/
public class Attitude {
public Attitude(float phi, float psi, float theta) {
super();
this.phi = phi;
this.psi = psi;
this.theta = theta;
}
/**
* Phi angle - the pitch of airplane.
*
* The range is (-PI .. PI). Positive value means the nose of airplane is up else down.
*
*
* To roll the plane to the right or left, the ailerons are raised on one
* wing and lowered on the other. The wing with the lowered aileron rises
* while the wing with the raised aileron drops.
*
*/
public float phi;
/**
* Psi angle - the yaw of airplane.
*
* The range is (-PI .. PI). Value 0 means North, positive value represents clockwise direction.
*
* Yaw is the turning of a plane. When the rudder is turned to one side, the
* airplane moves left or right. The airplane's nose is pointed in the same
* direction as the direction of the rudder. The rudder and the ailerons are
* used together to make a turn.
*
* <it>Note: the papabench airplane does not have rudder</it>
*/
public float psi;
/**
* Theta angle - the pitch of airplane.
*
* The range is (-PI .. PI). Positive value means the nose of airplane is up else down.
*
* Pitch is to make a plane descend or climb. The pilot adjusts the
* elevators on the tail to make a plane descend or climb. Lowering the
* elevators caused the airplane's nose to drop, sending the plane into a
* down. Raising the elevators causes the airplane to climb.
*/
public float theta;
@Override
public String toString() {
return "Attitude(phi:" + phi + ", psi:" + psi + ", theta:" + theta
+ ")";
}
}