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 #  include STL_STRING
  27    SG_USING_STD(string);
  28    SG_USING_STD(ostream);
  29    SG_USING_STD(istream);
  30    SG_USING_STD(cerr);
  31    SG_USING_STD(endl);
  32 #  ifdef FG_HAVE_STD_INCLUDES
  33 #    include <fstream>
  34 #    include <cmath>
  35 #    include <iostream>
  36 #  else
  37 #    include <fstream.h>
  38 #    include <math.h>
  39 #    include <iostream.h>
  40 #  endif
  41 #else
  42 #  include <fstream>
  43 #  include <cmath>
  44 #  include <iostream>
  45 #  include <string>
  46    using std::string;
  47    using std::ostream;
  48    using std::istream;
  49    using std::cerr;
  50    using std::endl;
  51 #endif
  52
  53
  54 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  55 DEFINITIONS
  56 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  57
  58 #define ID_MATRIX "$Id$"
  59
  60 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  61 FORWARD DECLARATIONS
  62 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  63
  64 class FGColumnVector;
  65
  66 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  67 DECLARATION: MatrixException
  68 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  69
  70 class MatrixException /* :  public exception */
  71 {
  72 public:
  73   string Message;
  74 };
  75
  76 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  77 DECLARATION: FGMatrix
  78 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  79
  80 class FGMatrix
  81 {
  82 public:
  83   FGMatrix(unsigned int r, unsigned int c);
  84   FGMatrix(const FGMatrix& A);
  85   FGMatrix(void) {};
  86   ~FGMatrix(void);
  87
  88   FGMatrix& operator=(const FGMatrix& A);
  89   inline double& operator()(unsigned int row, unsigned int col) const {return data[row][col];}
  90
  91   FGColumnVector operator*(const FGColumnVector& Col);
  92
  93   unsigned int Rows(void) const;
  94   unsigned int Cols(void) const;
  95
  96   void T(void);
  97   void InitMatrix(void);
  98   void InitMatrix(double value);
  99
 100   FGMatrix operator-(const FGMatrix& B);
 101   FGMatrix operator+(const FGMatrix& B);
 102   FGMatrix operator*(const FGMatrix& B);
 103   FGMatrix operator/(const double scalar);
 104   FGMatrix& operator<<(const float ff);
 105
 106   friend ostream& operator<<(ostream& os, const FGMatrix& M);
 107   friend istream& operator>>(istream& is, FGMatrix& M);
 108
 109   void operator-=(const FGMatrix &B);
 110   void operator+=(const FGMatrix &B);
 111   void operator*=(const FGMatrix &B);
 112   void operator*=(const double scalar);
 113   void operator/=(const double scalar);
 114
 115   friend FGMatrix operator*(double scalar,FGMatrix& A);
 116
 117   void SetOParams(char delim,int width,int prec, int origin=0);
 118
 119 protected:
 120   double **data;
 121   unsigned int rows,cols;
 122
 123 private:
 124   char delim;
 125   int width,prec,origin;
 126   void TransposeSquare(void);
 127   void TransposeNonSquare(void);
 128   unsigned int rowCtr, colCtr;
 129   void Debug(void);
 130 };
 131
 132 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 133 DECLARATION: FGColumnVector
 134 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 135
 136 class FGColumnVector : public FGMatrix
 137 {
 138 public:
 139   FGColumnVector(void);
 140   FGColumnVector(int m);
 141   FGColumnVector(const FGColumnVector& b);
 142   ~FGColumnVector(void);
 143
 144   FGColumnVector operator*(const double scalar);
 145   FGColumnVector operator*(const FGColumnVector& V);   // Cross product operator
 146   FGColumnVector operator/(const double scalar);
 147   FGColumnVector operator+(const FGColumnVector& B); // must not return reference
 148   FGColumnVector operator-(const FGColumnVector& B);
 149   float Magnitude(void);
 150   FGColumnVector Normalize(void);
 151
 152   friend FGColumnVector operator*(const double scalar, const FGColumnVector& A);
 153   friend FGColumnVector operator*(const FGMatrix& M, const FGColumnVector& V);
 154
 155   double& operator()(int m) const;
 156
 157   FGColumnVector multElementWise(const FGColumnVector& V);
 158
 159 private:
 160   void Debug(void);
 161 };
 162
 163 //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 164 #endif