1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
4 Author: Tony Peden, Jon Berndt, Mathias Frolich
7 ------------- Copyright (C) 2001 Jon S. Berndt (jon@jsbsim.org) -------------
9 This program is free software; you can redistribute it and/or modify it under
10 the terms of the GNU Lesser General Public License as published by the Free Software
11 Foundation; either version 2 of the License, or (at your option) any later
14 This program is distributed in the hope that it will be useful, but WITHOUT
15 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
16 FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
19 You should have received a copy of the GNU Lesser General Public License along with
20 this program; if not, write to the Free Software Foundation, Inc., 59 Temple
21 Place - Suite 330, Boston, MA 02111-1307, USA.
23 Further information about the GNU Lesser General Public License can also be found on
24 the world wide web at http://www.gnu.org.
27 --------------------------------------------------------------------------------
29 03/16/2000 JSB Added exception throwing
30 03/06/2004 MF Rework of the code to make it a bit compiler friendlier
32 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
34 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
39 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
41 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
46 #include "FGColumnVector3.h"
47 #include "FGJSBBase.h"
49 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
51 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
53 #define ID_MATRIX33 "$Id$"
55 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
57 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
61 class FGColumnVector3;
63 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
65 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
67 /** Exception convenience class.
70 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
71 DECLARATION: MatrixException
72 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
74 class MatrixException : public FGJSBBase
80 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
82 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
84 /** Handles matrix math operations.
85 @author Tony Peden, Jon Berndt, Mathias Froelich
88 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
89 DECLARATION: FGMatrix33
90 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
92 class FGMatrix33 : public FGJSBBase
101 /** Default initializer.
103 Create a zero matrix.
107 /** Copy constructor.
109 @param M Matrix which is used for initialization.
111 Create copy of the matrix given in the argument.
113 FGMatrix33(const FGMatrix33& M) {
114 Entry(1,1) = M.Entry(1,1);
115 Entry(2,1) = M.Entry(2,1);
116 Entry(3,1) = M.Entry(3,1);
117 Entry(1,2) = M.Entry(1,2);
118 Entry(2,2) = M.Entry(2,2);
119 Entry(3,2) = M.Entry(3,2);
120 Entry(1,3) = M.Entry(1,3);
121 Entry(2,3) = M.Entry(2,3);
122 Entry(3,3) = M.Entry(3,3);
127 /** Initialization by given values.
129 @param m11 value of the 1,1 Matrix element.
130 @param m12 value of the 1,2 Matrix element.
131 @param m13 value of the 1,3 Matrix element.
132 @param m21 value of the 2,1 Matrix element.
133 @param m22 value of the 2,2 Matrix element.
134 @param m23 value of the 2,3 Matrix element.
135 @param m31 value of the 3,1 Matrix element.
136 @param m32 value of the 3,2 Matrix element.
137 @param m33 value of the 3,3 Matrix element.
139 Create a matrix from the doubles given in the arguments.
141 FGMatrix33(double m11, double m12, double m13,
142 double m21, double m22, double m23,
143 double m31, double m32, double m33) {
159 ~FGMatrix33(void) { Debug(1); }
161 /** Prints the contents of the matrix.
162 @param delimeter the item separator (tab or comma)
163 @return a string with the delimeter-separated contents of the matrix */
164 std::string Dump(const std::string& delimeter) const;
166 /** Read access the entries of the matrix.
167 @param row Row index.
168 @param col Column index.
170 @return the value of the matrix entry at the given row and
171 column indices. Indices are counted starting with 1.
173 double operator()(unsigned int row, unsigned int col) const {
174 return Entry(row, col);
177 /** Write access the entries of the matrix.
178 Note that the indices given in the arguments are unchecked.
180 @param row Row index.
181 @param col Column index.
183 @return a reference to the matrix entry at the given row and
184 column indices. Indices are counted starting with 1.
186 double& operator()(unsigned int row, unsigned int col) {
187 return Entry(row, col);
190 /** Read access the entries of the matrix.
191 This function is just a shortcut for the <tt>double&
192 operator()(unsigned int row, unsigned int col)</tt> function. It is
193 used internally to access the elements in a more convenient way.
195 Note that the indices given in the arguments are unchecked.
197 @param row Row index.
198 @param col Column index.
200 @return the value of the matrix entry at the given row and
201 column indices. Indices are counted starting with 1.
203 double Entry(unsigned int row, unsigned int col) const {
204 return data[(col-1)*eRows+row-1];
207 /** Write access the entries of the matrix.
208 This function is just a shortcut for the <tt>double&
209 operator()(unsigned int row, unsigned int col)</tt> function. It is
210 used internally to access the elements in a more convenient way.
212 Note that the indices given in the arguments are unchecked.
214 @param row Row index.
215 @param col Column index.
217 @return a reference to the matrix entry at the given row and
218 column indices. Indices are counted starting with 1.
220 double& Entry(unsigned int row, unsigned int col) {
221 return data[(col-1)*eRows+row-1];
224 /** Number of rows in the matrix.
225 @return the number of rows in the matrix.
227 unsigned int Rows(void) const { return eRows; }
229 /** Number of cloumns in the matrix.
230 @return the number of columns in the matrix.
232 unsigned int Cols(void) const { return eColumns; }
234 /** Transposed matrix.
235 This function only returns the transpose of this matrix. This matrix itself
237 @return the transposed matrix.
239 FGMatrix33 Transposed(void) const {
240 return FGMatrix33( Entry(1,1), Entry(2,1), Entry(3,1),
241 Entry(1,2), Entry(2,2), Entry(3,2),
242 Entry(1,3), Entry(2,3), Entry(3,3) );
245 /** Transposes this matrix.
246 This function only transposes this matrix. Nothing is returned.
250 /** Initialize the matrix.
251 This function initializes a matrix to all 0.0.
253 void InitMatrix(void);
255 /** Initialize the matrix.
256 This function initializes a matrix to user specified values.
258 void InitMatrix(double m11, double m12, double m13,
259 double m21, double m22, double m23,
260 double m31, double m32, double m33) {
272 /** Determinant of the matrix.
273 @return the determinant of the matrix.
275 double Determinant(void) const;
277 /** Return if the matrix is invertible.
278 Checks and returns if the matrix is nonsingular and thus
279 invertible. This is done by simply computing the determinant and
280 check if it is zero. Note that this test does not cover any
281 instabilities caused by nearly singular matirces using finite
282 arithmetics. It only checks exact singularity.
284 bool Invertible(void) const { return 0.0 != Determinant(); }
286 /** Return the inverse of the matrix.
287 Computes and returns if the inverse of the matrix. It is computed
288 by Cramers Rule. Also there are no checks performed if the matrix
289 is invertible. If you are not sure that it really is check this
290 with the @ref Invertible() call before.
292 FGMatrix33 Inverse(void) const;
294 /** Assignment operator.
296 @param A source matrix.
298 Copy the content of the matrix given in the argument into *this.
300 FGMatrix33& operator=(const FGMatrix33& A) {
313 /** Matrix vector multiplication.
315 @param v vector to multiply with.
316 @return matric vector product.
318 Compute and return the product of the current matrix with the
319 vector given in the argument.
321 FGColumnVector3 operator*(const FGColumnVector3& v) const;
323 /** Matrix subtraction.
325 @param B matrix to add to.
326 @return difference of the matrices.
328 Compute and return the sum of the current matrix and the matrix
329 B given in the argument.
331 FGMatrix33 operator-(const FGMatrix33& B) const;
335 @param B matrix to add to.
336 @return sum of the matrices.
338 Compute and return the sum of the current matrix and the matrix
339 B given in the argument.
341 FGMatrix33 operator+(const FGMatrix33& B) const;
345 @param B matrix to add to.
346 @return product of the matrices.
348 Compute and return the product of the current matrix and the matrix
349 B given in the argument.
351 FGMatrix33 operator*(const FGMatrix33& B) const;
353 /** Multiply the matrix with a scalar.
355 @param scalar scalar factor to multiply with.
356 @return scaled matrix.
358 Compute and return the product of the current matrix with the
359 scalar value scalar given in the argument.
361 FGMatrix33 operator*(const double scalar) const;
363 /** Multiply the matrix with 1.0/scalar.
365 @param scalar scalar factor to divide through.
366 @return scaled matrix.
368 Compute and return the product of the current matrix with the
369 scalar value 1.0/scalar, where scalar is given in the argument.
371 FGMatrix33 operator/(const double scalar) const;
373 /** In place matrix subtraction.
375 @param B matrix to subtract.
376 @return reference to the current matrix.
378 Compute the diffence from the current matrix and the matrix B
379 given in the argument.
381 FGMatrix33& operator-=(const FGMatrix33 &B);
383 /** In place matrix addition.
385 @param B matrix to add.
386 @return reference to the current matrix.
388 Compute the sum of the current matrix and the matrix B
389 given in the argument.
391 FGMatrix33& operator+=(const FGMatrix33 &B);
393 /** In place matrix multiplication.
395 @param B matrix to multiply with.
396 @return reference to the current matrix.
398 Compute the product of the current matrix and the matrix B
399 given in the argument.
401 FGMatrix33& operator*=(const FGMatrix33 &B);
403 /** In place matrix scale.
405 @param scalar scalar value to multiply with.
406 @return reference to the current matrix.
408 Compute the product of the current matrix and the scalar value scalar
409 given in the argument.
411 FGMatrix33& operator*=(const double scalar);
413 /** In place matrix scale.
415 @param scalar scalar value to divide through.
416 @return reference to the current matrix.
418 Compute the product of the current matrix and the scalar value
419 1.0/scalar, where scalar is given in the argument.
421 FGMatrix33& operator/=(const double scalar);
424 double data[eRows*eColumns];
426 void Debug(int from);
429 /** Scalar multiplication.
431 @param scalar scalar value to multiply with.
432 @param A Matrix to multiply.
434 Multiply the Matrix with a scalar value.
436 inline FGMatrix33 operator*(double scalar, const FGMatrix33& A) {
437 // use already defined operation.
441 /** Write matrix to a stream.
443 @param os Stream to write to.
444 @param M Matrix to write.
446 Write the matrix to a stream.
448 std::ostream& operator<<(std::ostream& os, const FGMatrix33& M);
450 /** Read matrix from a stream.
452 @param os Stream to read from.
453 @param M Matrix to initialize with the values from the stream.
455 Read matrix from a stream.
457 std::istream& operator>>(std::istream& is, FGMatrix33& M);
459 } // namespace JSBSim