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 <simgear/compiler.h>
  26 #  ifdef FG_HAVE_STD_INCLUDES
  27 #    include <fstream>
  28 #    include <cmath>
  29 #    include <iostream>
  30 #  else
  31 #    include <fstream.h>
  32 #    include <math.h>
  33 #    include <iostream.h>
  34 #  endif
  35 #else
  36 #  include <fstream>
  37 #  include <cmath>
  38 #  include <iostream>
  39 #endif
  40
  41 #include <string>
  42
  43 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  44 DEFINITIONS
  45 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  46
  47 #define ID_MATRIX "$Header"
  48
  49 using std::string;
  50 using std::ostream;
  51 using std::istream;
  52 using std::cerr;
  53 using std::endl;
  54
  55 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  56 FORWARD DECLARATIONS
  57 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  58
  59 class FGColumnVector;
  60
  61 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  62 DECLARATION: MatrixException
  63 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  64
  65 class MatrixException /* :  public exception */
  66 {
  67 public:
  68   string Message;
  69 };
  70
  71 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  72 DECLARATION: FGMatrix
  73 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  74
  75 class FGMatrix
  76 {
  77 protected:
  78   double **data;
  79
  80 private:
  81   unsigned int rows,cols;
  82   char delim;
  83   int width,prec,origin;
  84   void TransposeSquare(void);
  85   void TransposeNonSquare(void);
  86   unsigned int rowCtr, colCtr;
  87
  88 public:
  89   FGMatrix(unsigned int r, unsigned int c);
  90   FGMatrix(const FGMatrix& A);
  91   ~FGMatrix(void);
  92
  93   FGMatrix& operator=(const FGMatrix& A);
  94   inline double& operator()(unsigned int row, unsigned int col) const {return data[row][col];}
  95
  96   FGColumnVector operator*(const FGColumnVector& Col);
  97
  98   unsigned int Rows(void) const;
  99   unsigned int Cols(void) const;
 100
 101   void T(void);
 102   void InitMatrix(void);
 103   void InitMatrix(double value);
 104
 105   FGMatrix operator-(const FGMatrix& B);
 106   FGMatrix operator+(const FGMatrix& B);
 107   FGMatrix operator*(const FGMatrix& B);
 108   FGMatrix operator/(const double scalar);
 109   FGMatrix& operator<<(const float ff);
 110
 111   friend ostream& operator<<(ostream& os, const FGMatrix& M);
 112   friend istream& operator>>(istream& is, FGMatrix& M);
 113
 114   void operator-=(const FGMatrix &B);
 115   void operator+=(const FGMatrix &B);
 116   void operator*=(const FGMatrix &B);
 117   void operator*=(const double scalar);
 118   void operator/=(const double scalar);
 119
 120   friend FGMatrix operator*(double scalar,FGMatrix& A);
 121
 122   void SetOParams(char delim,int width,int prec, int origin=0);
 123 };
 124
 125 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 126 DECLARATION: FGColumnVector
 127 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 128
 129 class FGColumnVector : public FGMatrix
 130 {
 131 public:
 132   FGColumnVector(void);
 133   FGColumnVector(int m);
 134   FGColumnVector(const FGColumnVector& b);
 135   ~FGColumnVector();
 136
 137   FGColumnVector operator*(const double scalar);
 138   FGColumnVector operator*(const FGColumnVector& V);   // Cross product operator
 139   FGColumnVector operator/(const double scalar);
 140   FGColumnVector operator+(const FGColumnVector& B);
 141   FGColumnVector operator-(const FGColumnVector& B);
 142   float Magnitude(void);
 143   FGColumnVector Normalize(void);
 144
 145   friend FGColumnVector operator*(const double scalar, const FGColumnVector& A);
 146   friend FGColumnVector operator*(const FGMatrix& M, const FGColumnVector& V);
 147
 148   double& operator()(int m) const;
 149
 150   FGColumnVector multElementWise(const FGColumnVector& V);
 151 };
 152
 153 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 154 #endif