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 "$Id$"
  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 public:
  78   FGMatrix(unsigned int r, unsigned int c);
  79   FGMatrix(const FGMatrix& A);
  80   FGMatrix(void) {};
  81   ~FGMatrix(void);
  82
  83   FGMatrix& operator=(const FGMatrix& A);
  84   inline double& operator()(unsigned int row, unsigned int col) const {return data[row][col];}
  85
  86   FGColumnVector operator*(const FGColumnVector& Col);
  87
  88   unsigned int Rows(void) const;
  89   unsigned int Cols(void) const;
  90
  91   void T(void);
  92   void InitMatrix(void);
  93   void InitMatrix(double value);
  94
  95   FGMatrix operator-(const FGMatrix& B);
  96   FGMatrix operator+(const FGMatrix& B);
  97   FGMatrix operator*(const FGMatrix& B);
  98   FGMatrix operator/(const double scalar);
  99   FGMatrix& operator<<(const float ff);
 100
 101   friend ostream& operator<<(ostream& os, const FGMatrix& M);
 102   friend istream& operator>>(istream& is, FGMatrix& M);
 103
 104   void operator-=(const FGMatrix &B);
 105   void operator+=(const FGMatrix &B);
 106   void operator*=(const FGMatrix &B);
 107   void operator*=(const double scalar);
 108   void operator/=(const double scalar);
 109
 110   friend FGMatrix operator*(double scalar,FGMatrix& A);
 111
 112   void SetOParams(char delim,int width,int prec, int origin=0);
 113
 114 protected:
 115   double **data;
 116   unsigned int rows,cols;
 117
 118 private:
 119   char delim;
 120   int width,prec,origin;
 121   void TransposeSquare(void);
 122   void TransposeNonSquare(void);
 123   unsigned int rowCtr, colCtr;
 124   void Debug(void);
 125 };
 126
 127 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 128 DECLARATION: FGColumnVector
 129 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 130
 131 class FGColumnVector : public FGMatrix
 132 {
 133 public:
 134   FGColumnVector(void);
 135   FGColumnVector(int m);
 136   FGColumnVector(const FGColumnVector& b);
 137   ~FGColumnVector(void);
 138
 139   FGColumnVector operator*(const double scalar);
 140   FGColumnVector& operator*(const FGColumnVector& V);   // Cross product operator
 141   FGColumnVector operator/(const double scalar);
 142   FGColumnVector operator+(const FGColumnVector& B); // must not return reference
 143   FGColumnVector operator-(const FGColumnVector& B);
 144   float Magnitude(void);
 145   FGColumnVector Normalize(void);
 146
 147   friend FGColumnVector operator*(const double scalar, const FGColumnVector& A);
 148   friend FGColumnVector operator*(const FGMatrix& M, const FGColumnVector& V);
 149
 150   double& operator()(int m) const;
 151
 152   FGColumnVector& multElementWise(const FGColumnVector& V);
 153
 154 private:
 155   void Debug(void);
 156 };
 157
 158 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 159 DECLARATION: FGMatrix3x3
 160 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 161
 162 class FGMatrix3x3 : public FGMatrix
 163 {
 164 public:
 165   FGMatrix3x3(void) {FGMatrix(3,3);}
 166 //  ~FGMatrix3x3(void) {~FGMatrix();}
 167 };
 168
 169 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 170 DECLARATION: FGColumnVector4
 171 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 172
 173 class FGColumnVector4 : public FGColumnVector
 174 {
 175 public:
 176   FGColumnVector4(void) {FGColumnVector(4);}
 177 //  ~FGColumnVector4(void) {~FGColumnVector();}
 178 };
 179
 180 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 181 DECLARATION: FGColumnVector3
 182 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 183
 184 class FGColumnVector3 : public FGColumnVector
 185 {
 186 public:
 187   FGColumnVector3(void) {FGColumnVector(3);}
 188 //  ~FGColumnVector3(void) {~FGColumnVector();}
 189 };
 190
 191 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 192 #endif