src/FDM/JSBSim/FGMatrix33.h

   1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
   2
   3 Header: FGMatrix33.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 FGMATRIX33_H
  17 #define FGMATRIX33_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 <string>
  40 #  if defined(sgi) && !defined(__GNUC__)
  41 #    include <fstream.h>
  42 #    include <math.h>
  43 #    include <iostream.h>
  44 #  else
  45 #    include <fstream>
  46 #    include <cmath>
  47 #    include <iostream>
  48      using std::ostream;
  49      using std::istream;
  50      using std::cerr;
  51      using std::cout;
  52      using std::endl;
  53 #  endif
  54    using std::string;
  55 #endif
  56
  57 #include "FGColumnVector3.h"
  58 #include "FGJSBBase.h"
  59
  60 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  61 DEFINITIONS
  62 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  63
  64 #define ID_MATRIX33 "$Id$"
  65
  66 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  67 FORWARD DECLARATIONS
  68 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  69
  70 class FGColumnVector3;
  71
  72 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  73 DECLARATION: MatrixException
  74 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  75
  76 class MatrixException : public FGJSBBase
  77 {
  78 public:
  79   string Message;
  80 };
  81
  82 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  83 DECLARATION: FGMatrix33
  84 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  85
  86 class FGMatrix33 : public FGJSBBase
  87 {
  88 public:
  89   FGMatrix33(void);
  90   FGMatrix33(int r, int c);
  91   FGMatrix33(const FGMatrix33& A);
  92   ~FGMatrix33(void);
  93
  94   FGMatrix33& operator=(const FGMatrix33& A);
  95   inline double operator()(unsigned int row, unsigned int col) const {return data[row][col];}
  96   inline double& operator()(unsigned int row, unsigned int col) {return data[row][col];}
  97
  98   FGColumnVector3 operator*(const FGColumnVector3& Col);
  99
 100   inline unsigned int Rows(void) const { return 3; }
 101   inline unsigned int Cols(void) const { return 3; }
 102
 103   void T(void);
 104   void InitMatrix(void);
 105   void InitMatrix(double value);
 106
 107   //friend FGMatrix33 operator*(double scalar,FGMatrix33& A);
 108
 109   FGMatrix33 operator-(const FGMatrix33& B);
 110   FGMatrix33 operator+(const FGMatrix33& B);
 111   FGMatrix33 operator*(const FGMatrix33& B);
 112   FGMatrix33 operator*(const double scalar);
 113   FGMatrix33 operator/(const double scalar);
 114   FGMatrix33& operator<<(const double ff);
 115
 116   friend ostream& operator<<(ostream& os, const FGMatrix33& M);
 117   friend istream& operator>>(istream& is, FGMatrix33& M);
 118
 119   void operator-=(const FGMatrix33 &B);
 120   void operator+=(const FGMatrix33 &B);
 121   void operator*=(const FGMatrix33 &B);
 122   void operator*=(const double scalar);
 123   void operator/=(const double scalar);
 124
 125 protected:
 126   double data[4][4];
 127
 128 private:
 129   void TransposeSquare(void);
 130   unsigned int rowCtr, colCtr;
 131   void Debug(int from);
 132 };
 133
 134 #endif