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