HISTORY
--------------------------------------------------------------------------------
+??/??/???? ?? Initial version and more.
+03/06/2004 MF Rework, document and do much inlineing.
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
SENTRY
# include STL_FSTREAM
# include STL_IOSTREAM
SG_USING_STD(string);
-# if !defined(SG_HAVE_NATIVE_SGI_COMPILERS)
- SG_USING_STD(ostream);
- SG_USING_STD(istream);
- SG_USING_STD(cerr);
- SG_USING_STD(cout);
- SG_USING_STD(endl);
-# endif
+ SG_USING_STD(ostream);
+ SG_USING_STD(istream);
+ SG_USING_STD(cerr);
+ SG_USING_STD(cout);
+ SG_USING_STD(endl);
+// SG_USING_STD(sqrt);
#else
# include <string>
-# if defined(sgi) && !defined(__GNUC__)
+# if defined(sgi) && !defined(__GNUC__) && (_COMPILER_VERSION < 740)
# include <fstream.h>
-# include <math.h>
# include <iostream.h>
+# include <math.h>
# else
# include <fstream>
-# include <cmath>
# include <iostream>
+# if defined(sgi) && !defined(__GNUC__)
+# include <math.h>
+# else
+# include <cmath>
+# endif
using std::ostream;
using std::istream;
using std::cerr;
using std::cout;
using std::endl;
+ using std::sqrt;
# endif
using std::string;
#endif
FORWARD DECLARATIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+namespace JSBSim {
+
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+CLASS DOCUMENTATION
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+/** This class implements a 3 dimensional vector.
+ @author Jon S. Berndt, Tony Peden, et. al.
+ @version $Id$
+*/
+
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
-DECLARATION: FGColumnVector3
+CLASS DECLARATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
class FGColumnVector3 : public FGJSBBase
{
public:
+ /** Default initializer.
+ Create a zero vector. */
FGColumnVector3(void);
- FGColumnVector3(double X, double Y, double Z);
- FGColumnVector3(const FGColumnVector3& b);
- ~FGColumnVector3(void);
-
- FGColumnVector3 operator=(const FGColumnVector3& b);
-
- FGColumnVector3 operator*(const double scalar);
- FGColumnVector3 operator*(const FGColumnVector3& V); // Cross product operator
- FGColumnVector3 operator/(const double scalar);
- FGColumnVector3 operator+(const FGColumnVector3& B); // must not return reference
- FGColumnVector3 operator-(const FGColumnVector3& B);
-
- void operator-=(const FGColumnVector3 &B);
- void operator+=(const FGColumnVector3 &B);
- void operator*=(const FGColumnVector3 &B);
- void operator*=(const double scalar);
- void operator/=(const double scalar);
- FGColumnVector3& operator<<(const double ff);
+ /** Initialization by given values.
+ @param X value of the x-conponent.
+ @param Y value of the y-conponent.
+ @param Z value of the z-conponent.
+ Create a vector from the doubles given in the arguments. */
+ FGColumnVector3(double X, double Y, double Z) {
+ data[0] = X;
+ data[1] = Y;
+ data[2] = Z;
+ Debug(0);
+ }
+
+ /** Copy constructor.
+ @param v Vector which is used for initialization.
+ Create copy of the vector given in the argument. */
+ FGColumnVector3(const FGColumnVector3& v) {
+ data[0] = v.data[0];
+ data[1] = v.data[1];
+ data[2] = v.data[2];
+ Debug(0);
+ }
+
+ /// Destructor.
+ ~FGColumnVector3(void) { Debug(1); }
+
+ /** Read access the entries of the vector.
+ @param idx the component index.
+ Return the value of the matrix entry at the given index.
+ Indices are counted starting with 1.
+ Note that the index given in the argument is unchecked. */
+ double operator()(unsigned int idx) const { return Entry(idx); }
+
+ /** Write access the entries of the vector.
+ @param idx the component index.
+ Return a reference to the vector entry at the given index.
+ Indices are counted starting with 1.
+ Note that the index given in the argument is unchecked. */
+ double& operator()(unsigned int idx) { return Entry(idx); }
+
+ /** Read access the entries of the vector.
+ @param idx the component index.
+ Return the value of the matrix entry at the given index.
+ Indices are counted starting with 1.
+ This function is just a shortcut for the @ref double
+ operator()(unsigned int idx) const function. It is
+ used internally to access the elements in a more convenient way.
+ Note that the index given in the argument is unchecked. */
+ double Entry(unsigned int idx) const { return data[idx-1]; }
+
+ /** Write access the entries of the vector.
+ @param idx the component index.
+ Return a reference to the vector entry at the given index.
+ Indices are counted starting with 1.
+ This function is just a shortcut for the @ref double&
+ operator()(unsigned int idx) function. It is
+ used internally to access the elements in a more convenient way.
+ Note that the index given in the argument is unchecked. */
+ double& Entry(unsigned int idx) { return data[idx-1]; }
+
+ /** Prints the contents of the vector
+ @param delimeter the item separator (tab or comma)
+ @return a string with the delimeter-separated contents of the vector */
+ string Dump(string delimeter) const;
+
+ /** Assignment operator.
+ @param b source vector.
+ Copy the content of the vector given in the argument into *this. */
+ FGColumnVector3& operator=(const FGColumnVector3& b) {
+ data[0] = b.data[0];
+ data[1] = b.data[1];
+ data[2] = b.data[2];
+ return *this;
+ }
- inline void InitMatrix(void) { data[1]=0; data[2]=0; data[3]=0; }
- inline void InitMatrix(double ff) { data[1]=ff; data[2]=ff; data[3]=ff; }
+ /** Comparison operator.
+ @param b other vector.
+ Returns true if both vectors are exactly the same. */
+ bool operator==(const FGColumnVector3& b) const {
+ return data[0] == b.data[0] && data[1] == b.data[1] && data[2] == b.data[2];
+ }
- double Magnitude(void);
- FGColumnVector3 Normalize(void);
+ /** Comparison operator.
+ @param b other vector.
+ Returns false if both vectors are exactly the same. */
+ bool operator!=(const FGColumnVector3& b) const { return ! operator==(b); }
- friend FGColumnVector3 operator*(const double scalar, const FGColumnVector3& A);
+ /** Multiplication by a scalar.
+ @param scalar scalar value to multiply the vector with.
+ @return The resulting vector from the multiplication with that scalar.
+ Multiply the vector with the scalar given in the argument. */
+ FGColumnVector3 operator*(const double scalar) const {
+ return FGColumnVector3(scalar*Entry(1), scalar*Entry(2), scalar*Entry(3));
+ }
- friend ostream& operator<<(ostream& os, const FGColumnVector3& col);
+ /** Multiply by 1/scalar.
+ @param scalar scalar value to devide the vector through.
+ @return The resulting vector from the division through that scalar.
+ Multiply the vector with the 1/scalar given in the argument. */
+ FGColumnVector3 operator/(const double scalar) const;
- inline double operator()(int m) const { return data[m]; }
- inline double& operator()(int m) { return data[m]; }
+ /** Cross product multiplication.
+ @param v vector to multiply with.
+ @return The resulting vector from the cross product multiplication.
+ Compute and return the cross product of the current vector with
+ the given argument. */
+ FGColumnVector3 operator*(const FGColumnVector3& V) const {
+ return FGColumnVector3( Entry(2) * V(3) - Entry(3) * V(2),
+ Entry(3) * V(1) - Entry(1) * V(3),
+ Entry(1) * V(2) - Entry(2) * V(1) );
+ }
- FGColumnVector3 multElementWise(const FGColumnVector3& V);
+ /// Addition operator.
+ FGColumnVector3 operator+(const FGColumnVector3& B) const {
+ return FGColumnVector3( Entry(1) + B(1), Entry(2) + B(2), Entry(3) + B(3) );
+ }
+
+ /// Subtraction operator.
+ FGColumnVector3 operator-(const FGColumnVector3& B) const {
+ return FGColumnVector3( Entry(1) - B(1), Entry(2) - B(2), Entry(3) - B(3) );
+ }
+
+ /// Subtract an other vector.
+ FGColumnVector3& operator-=(const FGColumnVector3 &B) {
+ Entry(1) -= B(1);
+ Entry(2) -= B(2);
+ Entry(3) -= B(3);
+ return *this;
+ }
+
+ /// Add an other vector.
+ FGColumnVector3& operator+=(const FGColumnVector3 &B) {
+ Entry(1) += B(1);
+ Entry(2) += B(2);
+ Entry(3) += B(3);
+ return *this;
+ }
+
+ /// Scale by a scalar.
+ FGColumnVector3& operator*=(const double scalar) {
+ Entry(1) *= scalar;
+ Entry(2) *= scalar;
+ Entry(3) *= scalar;
+ return *this;
+ }
+
+ /// Scale by a 1/scalar.
+ FGColumnVector3& operator/=(const double scalar);
+
+ void InitMatrix(void) { data[0] = data[1] = data[2] = 0.0; }
+ void InitMatrix(double a) { data[0] = data[1] = data[2] = a; }
+ void InitMatrix(double a, double b, double c) {
+ data[0]=a; data[1]=b; data[2]=c;
+ }
+
+ /** Length of the vector.
+ Compute and return the euclidean norm of this vector. */
+ double Magnitude(void) const;
+
+ /** Length of the vector in a coordinate axis plane.
+ Compute and return the euclidean norm of this vector projected into
+ the coordinate axis plane idx1-idx2. */
+ double Magnitude(int idx1, int idx2) const {
+ return sqrt( Entry(idx1)*Entry(idx1) + Entry(idx2)*Entry(idx2) );
+ }
+
+ /** Normalize.
+ Normalize the vector to have the Magnitude() == 1.0. If the vector
+ is equal to zero it is left untouched. */
+ FGColumnVector3& Normalize(void);
+
+ // ??? Is this something sensible ??
+ FGColumnVector3 multElementWise(const FGColumnVector3& V) const;
+
+ // little trick here.
+ struct AssignRef {
+ AssignRef(FGColumnVector3& r, int i) : Ref(r), idx(i) {}
+ AssignRef operator<<(const double ff) {
+ Ref.Entry(idx) = ff;
+ return AssignRef(Ref, idx+1);
+ }
+ FGColumnVector3& Ref;
+ int idx;
+ };
+ AssignRef operator<<(const double ff) {
+ Entry(1) = ff;
+ return AssignRef(*this, 2);
+ }
private:
- double data[4];
- int rowCtr;
+ double data[3];
+
void Debug(int from);
};
+/** Scalar multiplication.
+ @param scalar scalar value to multiply with.
+ @param A Vector to multiply.
+ Multiply the Vector with a scalar value.*/
+inline FGColumnVector3 operator*(double scalar, const FGColumnVector3& A) {
+ // use already defined operation.
+ return A*scalar;
+}
+
+/** Write vector to a stream.
+ @param os Stream to write to.
+ @param M Matrix to write.
+ Write the matrix to a stream.*/
+ostream& operator<<(ostream& os, const FGColumnVector3& col);
+
+} // namespace JSBSim
+
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
#endif
projects / flightgear.git / blobdiff