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    SG_USING_STD(ostream);
  32    SG_USING_STD(istream);
  33    SG_USING_STD(cerr);
  34    SG_USING_STD(cout);
  35    SG_USING_STD(endl);
  36 #else
  37 #  include <fstream>
  38 #  include <cmath>
  39 #  include <iostream>
  40 #  include <string>
  41    using std::string;
  42    using std::ostream;
  43    using std::istream;
  44    using std::cerr;
  45    using std::cout;
  46    using std::endl;
  47 #endif
  48
  49
  50 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  51 DEFINITIONS
  52 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  53
  54 #define ID_MATRIX "$Id$"
  55
  56 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  57 FORWARD DECLARATIONS
  58 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  59
  60 class FGColumnVector;
  61
  62 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  63 DECLARATION: MatrixException
  64 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  65
  66 class MatrixException /* :  public exception */
  67 {
  68 public:
  69   string Message;
  70 };
  71
  72 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  73 DECLARATION: FGMatrix
  74 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  75
  76 class FGMatrix
  77 {
  78 public:
  79   FGMatrix(unsigned int r, unsigned int c);
  80   FGMatrix(const FGMatrix& A);
  81   FGMatrix(void) {};
  82   ~FGMatrix(void);
  83
  84   FGMatrix& operator=(const FGMatrix& A);
  85   inline double& operator()(unsigned int row, unsigned int col) const {return data[row][col];}
  86
  87   FGColumnVector operator*(const FGColumnVector& Col);
  88
  89   unsigned int Rows(void) const;
  90   unsigned int Cols(void) const;
  91
  92   void T(void);
  93   void InitMatrix(void);
  94   void InitMatrix(double value);
  95
  96   FGMatrix operator-(const FGMatrix& B);
  97   FGMatrix operator+(const FGMatrix& B);
  98   FGMatrix operator*(const FGMatrix& B);
  99   FGMatrix operator/(const double scalar);
 100   FGMatrix& operator<<(const float ff);
 101
 102   friend ostream& operator<<(ostream& os, const FGMatrix& M);
 103   friend istream& operator>>(istream& is, FGMatrix& M);
 104
 105   void operator-=(const FGMatrix &B);
 106   void operator+=(const FGMatrix &B);
 107   void operator*=(const FGMatrix &B);
 108   void operator*=(const double scalar);
 109   void operator/=(const double scalar);
 110
 111   friend FGMatrix operator*(double scalar,FGMatrix& A);
 112
 113   void SetOParams(char delim,int width,int prec, int origin=0);
 114
 115 protected:
 116   double **data;
 117   unsigned int rows,cols;
 118
 119 private:
 120   char delim;
 121   int width,prec,origin;
 122   void TransposeSquare(void);
 123   void TransposeNonSquare(void);
 124   unsigned int rowCtr, colCtr;
 125   void Debug(void);
 126 };
 127
 128 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 129 DECLARATION: FGColumnVector
 130 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 131
 132 class FGColumnVector : public FGMatrix
 133 {
 134 public:
 135   FGColumnVector(void);
 136   FGColumnVector(int m);
 137   FGColumnVector(const FGColumnVector& b);
 138   ~FGColumnVector(void);
 139
 140   FGColumnVector operator*(const double scalar);
 141   FGColumnVector operator*(const FGColumnVector& V);   // Cross product operator
 142   FGColumnVector operator/(const double scalar);
 143   FGColumnVector operator+(const FGColumnVector& B); // must not return reference
 144   FGColumnVector operator-(const FGColumnVector& B);
 145   float Magnitude(void);
 146   FGColumnVector Normalize(void);
 147
 148   friend FGColumnVector operator*(const double scalar, const FGColumnVector& A);
 149   friend FGColumnVector operator*(const FGMatrix& M, const FGColumnVector& V);
 150
 151   double& operator()(int m) const;
 152
 153   FGColumnVector multElementWise(const FGColumnVector& V);
 154
 155 private:
 156   void Debug(void);
 157 };
 158
 159 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 160 #endif