src/FDM/JSBSim/FGMatrix.h

   1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
   2
   3 Header: FGMatrix.h
   4 Author: Originally by Tony Peden [formatted and adapted here by Jon Berndt]
   5 Date started: Unknown
   6
   7 HISTORY
   8 --------------------------------------------------------------------------------
   9 ??/??/??   TP   Created
  10 03/16/2000 JSB  Added exception throwing
  11
  12 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  13 SENTRY
  14 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  15
  16 #ifndef FGMATRIX_H
  17 #define FGMATRIX_H
  18
  19 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  20 INCLUDES
  21 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  22
  23 #include <stdlib.h>
  24 #ifdef FGFS
  25 #  include <math.h>
  26 #  include <simgear/compiler.h>
  27 #  include STL_STRING
  28 #  include STL_FSTREAM
  29 #  include STL_IOSTREAM
  30    SG_USING_STD(string);
  31 #  if !defined(SG_HAVE_NATIVE_SGI_COMPILERS)
  32      SG_USING_STD(ostream);
  33      SG_USING_STD(istream);
  34      SG_USING_STD(cerr);
  35      SG_USING_STD(cout);
  36      SG_USING_STD(endl);
  37 #  endif
  38 #else
  39 #  include <fstream>
  40 #  include <cmath>
  41 #  include <iostream>
  42 #  include <string>
  43    using std::string;
  44    using std::ostream;
  45    using std::istream;
  46    using std::cerr;
  47    using std::cout;
  48    using std::endl;
  49 #endif
  50
  51
  52 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  53 DEFINITIONS
  54 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  55
  56 #define ID_MATRIX "$Id$"
  57
  58 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  59 FORWARD DECLARATIONS
  60 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  61
  62 class FGColumnVector;
  63
  64 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  65 DECLARATION: MatrixException
  66 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  67
  68 class MatrixException /* :  public exception */
  69 {
  70 public:
  71   string Message;
  72 };
  73
  74 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  75 DECLARATION: FGMatrix
  76 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  77
  78 class FGMatrix
  79 {
  80 public:
  81   FGMatrix(unsigned int r, unsigned int c);
  82   FGMatrix(const FGMatrix& A);
  83   FGMatrix(void) {};
  84   ~FGMatrix(void);
  85
  86   FGMatrix& operator=(const FGMatrix& A);
  87   inline double& operator()(unsigned int row, unsigned int col) const {return data[row][col];}
  88
  89   FGColumnVector operator*(const FGColumnVector& Col);
  90
  91   unsigned int Rows(void) const;
  92   unsigned int Cols(void) const;
  93
  94   void T(void);
  95   void InitMatrix(void);
  96   void InitMatrix(double value);
  97
  98   FGMatrix operator-(const FGMatrix& B);
  99   FGMatrix operator+(const FGMatrix& B);
 100   FGMatrix operator*(const FGMatrix& B);
 101   FGMatrix operator/(const double scalar);
 102   FGMatrix& operator<<(const float ff);
 103
 104   friend ostream& operator<<(ostream& os, const FGMatrix& M);
 105   friend istream& operator>>(istream& is, FGMatrix& M);
 106
 107   void operator-=(const FGMatrix &B);
 108   void operator+=(const FGMatrix &B);
 109   void operator*=(const FGMatrix &B);
 110   void operator*=(const double scalar);
 111   void operator/=(const double scalar);
 112
 113   friend FGMatrix operator*(double scalar,FGMatrix& A);
 114
 115   void SetOParams(char delim,int width,int prec, int origin=0);
 116
 117 protected:
 118   double **data;
 119   unsigned int rows,cols;
 120
 121 private:
 122   char delim;
 123   int width,prec,origin;
 124   void TransposeSquare(void);
 125   void TransposeNonSquare(void);
 126   unsigned int rowCtr, colCtr;
 127   void Debug(void);
 128 };
 129
 130 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 131 DECLARATION: FGColumnVector
 132 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 133
 134 class FGColumnVector : public FGMatrix
 135 {
 136 public:
 137   FGColumnVector(void);
 138   FGColumnVector(int m);
 139   FGColumnVector(const FGColumnVector& b);
 140   ~FGColumnVector(void);
 141
 142   FGColumnVector operator*(const double scalar);
 143   FGColumnVector operator*(const FGColumnVector& V);   // Cross product operator
 144   FGColumnVector operator/(const double scalar);
 145   FGColumnVector operator+(const FGColumnVector& B); // must not return reference
 146   FGColumnVector operator-(const FGColumnVector& B);
 147   float Magnitude(void);
 148   FGColumnVector Normalize(void);
 149
 150   friend FGColumnVector operator*(const double scalar, const FGColumnVector& A);
 151   friend FGColumnVector operator*(const FGMatrix& M, const FGColumnVector& V);
 152
 153   double& operator()(int m) const;
 154
 155   FGColumnVector multElementWise(const FGColumnVector& V);
 156
 157 private:
 158   void Debug(void);
 159 };
 160
 161 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 162 #endif