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    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 <string>
  38 #  if defined(sgi) && !defined(__GNUC__) && (_COMPILER_VERSION < 740)
  39      include <fstream.h>
  40      include <iostream.h>
  41 #    include <math.h>
  42 #  else
  43 #    include <fstream>
  44 #    include <iostream>
  45 #    if defined(sgi) && !defined(__GNUC__)
  46 #      include <math.h>
  47 #    else
  48 #      include <cmath>
  49 #    endif
  50      using std::ostream;
  51      using std::istream;
  52      using std::cerr;
  53      using std::cout;
  54      using std::endl;
  55 #  endif
  56    using std::string;
  57 #endif
  58
  59 #include "FGColumnVector3.h"
  60 #include "FGJSBBase.h"
  61
  62 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  63 DEFINITIONS
  64 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  65
  66 #define ID_MATRIX33 "$Id$"
  67
  68 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  69 FORWARD DECLARATIONS
  70 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  71
  72 namespace JSBSim {
  73
  74 class FGColumnVector3;
  75
  76 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  77 CLASS DOCUMENTATION
  78 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  79
  80 /** Exception convenience class.
  81   */
  82
  83 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  84 DECLARATION: MatrixException
  85 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  86
  87 class MatrixException : public FGJSBBase
  88 {
  89 public:
  90   string Message;
  91 };
  92
  93 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  94 CLASS DOCUMENTATION
  95 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  96
  97 /** Handles matrix math operations.
  98   */
  99
 100 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 101 DECLARATION: FGMatrix33
 102 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
 103
 104 class FGMatrix33 : public FGJSBBase
 105 {
 106 public:
 107   FGMatrix33(void);
 108   FGMatrix33(int r, int c);
 109   FGMatrix33(const FGMatrix33& A);
 110   ~FGMatrix33(void);
 111
 112   FGMatrix33& operator=(const FGMatrix33& A);
 113   inline double operator()(unsigned int row, unsigned int col) const {return data[row][col];}
 114   inline double& operator()(unsigned int row, unsigned int col) {return data[row][col];}
 115
 116   FGColumnVector3 operator*(const FGColumnVector3& Col);
 117
 118   inline unsigned int Rows(void) const { return 3; }
 119   inline unsigned int Cols(void) const { return 3; }
 120
 121   void T(void);
 122   void InitMatrix(void);
 123   void InitMatrix(double value);
 124
 125   //friend FGMatrix33 operator*(double scalar,FGMatrix33& A);
 126
 127   FGMatrix33 operator-(const FGMatrix33& B);
 128   FGMatrix33 operator+(const FGMatrix33& B);
 129   FGMatrix33 operator*(const FGMatrix33& B);
 130   FGMatrix33 operator*(const double scalar);
 131   FGMatrix33 operator/(const double scalar);
 132   FGMatrix33& operator<<(const double ff);
 133
 134   friend ostream& operator<<(ostream& os, const FGMatrix33& M);
 135   friend istream& operator>>(istream& is, FGMatrix33& M);
 136
 137   void operator-=(const FGMatrix33 &B);
 138   void operator+=(const FGMatrix33 &B);
 139   void operator*=(const FGMatrix33 &B);
 140   void operator*=(const double scalar);
 141   void operator/=(const double scalar);
 142
 143 protected:
 144   double data[4][4];
 145
 146 private:
 147   void TransposeSquare(void);
 148   unsigned int rowCtr, colCtr;
 149   void Debug(int from);
 150 };
 151 }
 152 #endif