/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
Header: FGMatrix33.h
-Author: Originally by Tony Peden [formatted and adapted here by Jon Berndt]
+Author: Tony Peden, Jon Berndt, Mathias Frolich
Date started: Unknown
HISTORY
--------------------------------------------------------------------------------
??/??/?? TP Created
03/16/2000 JSB Added exception throwing
+03/06/2004 MF Rework of the code to make it a bit compiler friendlier
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
SENTRY
SG_USING_STD(endl);
#else
# include <string>
-# if defined(sgi) && !defined(__GNUC__)
-# include <fstream.h>
+# if defined(sgi) && !defined(__GNUC__) && (_COMPILER_VERSION < 740)
+ include <fstream.h>
+ include <iostream.h>
# include <math.h>
-# include <iostream.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;
class FGColumnVector3;
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+CLASS DOCUMENTATION
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+/** Exception convenience class.
+ */
+
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
DECLARATION: MatrixException
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
string Message;
};
+/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
+CLASS DOCUMENTATION
+%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
+
+ /** Handles matrix math operations.
+ @author Tony Peden, Jon Berndt, Mathias Froelich
+ */
+
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
DECLARATION: FGMatrix33
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
class FGMatrix33 : public FGJSBBase
{
public:
+
+ enum {
+ eRows = 3,
+ eColumns = 3
+ };
+
+ /** Default initializer.
+ Create a zero matrix. */
FGMatrix33(void);
- FGMatrix33(int r, int c);
- FGMatrix33(const FGMatrix33& A);
- ~FGMatrix33(void);
- FGMatrix33& operator=(const FGMatrix33& A);
- inline double operator()(unsigned int row, unsigned int col) const {return data[row][col];}
- inline double& operator()(unsigned int row, unsigned int col) {return data[row][col];}
+ /** Copy constructor.
+ @param M Matrix which is used for initialization.
+ Create copy of the matrix given in the argument. */
+ FGMatrix33(const FGMatrix33& M) {
+ Entry(1,1) = M.Entry(1,1);
+ Entry(2,1) = M.Entry(2,1);
+ Entry(3,1) = M.Entry(3,1);
+ Entry(1,2) = M.Entry(1,2);
+ Entry(2,2) = M.Entry(2,2);
+ Entry(3,2) = M.Entry(3,2);
+ Entry(1,3) = M.Entry(1,3);
+ Entry(2,3) = M.Entry(2,3);
+ Entry(3,3) = M.Entry(3,3);
+
+ Debug(0);
+ }
+
+ /** Initialization by given values.
+ @param m11 value of the 1,1 Matrix element.
+ @param m12 value of the 1,2 Matrix element.
+ @param m13 value of the 1,3 Matrix element.
+ @param m21 value of the 2,1 Matrix element.
+ @param m22 value of the 2,2 Matrix element.
+ @param m23 value of the 2,3 Matrix element.
+ @param m31 value of the 3,1 Matrix element.
+ @param m32 value of the 3,2 Matrix element.
+ @param m33 value of the 3,3 Matrix element.
+ Create a matrix from the doubles given in the arguments. */
+ FGMatrix33(double m11, double m12, double m13,
+ double m21, double m22, double m23,
+ double m31, double m32, double m33) {
+ Entry(1,1) = m11;
+ Entry(2,1) = m21;
+ Entry(3,1) = m31;
+ Entry(1,2) = m12;
+ Entry(2,2) = m22;
+ Entry(3,2) = m32;
+ Entry(1,3) = m13;
+ Entry(2,3) = m23;
+ Entry(3,3) = m33;
+
+ Debug(0);
+ }
+
+ /// Destructor.
+ ~FGMatrix33(void) { Debug(1); }
+
+ /** Read access the entries of the matrix.
+ @param row Row index.
+ @param col Column index.
+ @return the value of the matrix entry at the given row and
+ column indices. Indices are counted starting with 1. */
+ double operator()(unsigned int row, unsigned int col) const {
+ return Entry(row, col);
+ }
+
+ /** Write access the entries of the matrix.
+ Note that the indices given in the arguments are unchecked.
+ @param row Row index.
+ @param col Column index.
+ @return a reference to the matrix entry at the given row and
+ column indices. Indices are counted starting with 1. */
+ double& operator()(unsigned int row, unsigned int col) {
+ return Entry(row, col);
+ }
+
+ /** Read access the entries of the matrix.
+ This function is just a shortcut for the @ref double&
+ operator()(unsigned int row, unsigned int col) function. It is
+ used internally to access the elements in a more convenient way.
+ Note that the indices given in the arguments are unchecked.
+ @param row Row index.
+ @param col Column index.
+ @return the value of the matrix entry at the given row and
+ column indices. Indices are counted starting with 1. */
+ double Entry(unsigned int row, unsigned int col) const {
+ return data[(col-1)*eRows+row-1];
+ }
+
+ /** Write access the entries of the matrix.
+ This function is just a shortcut for the @ref double&
+ operator()(unsigned int row, unsigned int col) function. It is
+ used internally to access the elements in a more convenient way.
+ Note that the indices given in the arguments are unchecked.
+ @param row Row index.
+ @param col Column index.
+ @return a reference to the matrix entry at the given row and
+ column indices. Indices are counted starting with 1. */
+ double& Entry(unsigned int row, unsigned int col) {
+ return data[(col-1)*eRows+row-1];
+ }
+
+ /** Number of rows in the matrix.
+ @return the number of rows in the matrix. */
+ unsigned int Rows(void) const { return eRows; }
- FGColumnVector3 operator*(const FGColumnVector3& Col);
+ /** Number of cloumns in the matrix.
+ @return the number of columns in the matrix. */
+ unsigned int Cols(void) const { return eColumns; }
- inline unsigned int Rows(void) const { return 3; }
- inline unsigned int Cols(void) const { return 3; }
+ /** Transposed matrix.
+ This function only returns the transpose of this matrix. This matrix itself
+ remains unchanged.
+ @return the transposed matrix. */
+ FGMatrix33 Transposed(void) const {
+ return FGMatrix33( Entry(1,1), Entry(2,1), Entry(3,1),
+ Entry(1,2), Entry(2,2), Entry(3,2),
+ Entry(1,3), Entry(2,3), Entry(3,3) );
+ }
+ /** Transposes this matrix.
+ This function only transposes this matrix. Nothing is returned. */
void T(void);
+
+/** Initialize the matrix.
+ This function initializes a matrix to all 0.0. */
void InitMatrix(void);
- void InitMatrix(double value);
-
- //friend FGMatrix33 operator*(double scalar,FGMatrix33& A);
- FGMatrix33 operator-(const FGMatrix33& B);
- FGMatrix33 operator+(const FGMatrix33& B);
- FGMatrix33 operator*(const FGMatrix33& B);
- FGMatrix33 operator*(const double scalar);
- FGMatrix33 operator/(const double scalar);
- FGMatrix33& operator<<(const double ff);
+/** Initialize the matrix.
+ This function initializes a matrix to user specified values. */
+ void InitMatrix(double m11, double m12, double m13,
+ double m21, double m22, double m23,
+ double m31, double m32, double m33) {
+ Entry(1,1) = m11;
+ Entry(2,1) = m21;
+ Entry(3,1) = m31;
+ Entry(1,2) = m12;
+ Entry(2,2) = m22;
+ Entry(3,2) = m32;
+ Entry(1,3) = m13;
+ Entry(2,3) = m23;
+ Entry(3,3) = m33;
+ }
+
+ /** Determinant of the matrix.
+ @return the determinant of the matrix. */
+ double Determinant(void) const;
+
+ /** Return if the matrix is invertible.
+ Checks and returns if the matrix is nonsingular and thus
+ invertible. This is done by simply computing the determinant and
+ check if it is zero. Note that this test does not cover any
+ instabilities caused by nearly singular matirces using finite
+ arithmetics. It only checks exact singularity. */
+ bool Invertible(void) const { return 0.0 != Determinant(); }
+
+ /** Return the inverse of the matrix.
+ Computes and returns if the inverse of the matrix. It is computed
+ by Cramers Rule. Also there are no checks performed if the matrix
+ is invertible. If you are not sure that it really is check this
+ with the @ref Invertible() call before. */
+ FGMatrix33 Inverse(void) const;
+
+ /** Assignment operator.
+ @param A source matrix.
+ Copy the content of the matrix given in the argument into *this. */
+ FGMatrix33& operator=(const FGMatrix33& A) {
+ data[0] = A.data[0];
+ data[1] = A.data[1];
+ data[2] = A.data[2];
+ data[3] = A.data[3];
+ data[4] = A.data[4];
+ data[5] = A.data[5];
+ data[6] = A.data[6];
+ data[7] = A.data[7];
+ data[8] = A.data[8];
+ return *this;
+ }
+
+ /** Matrix vector multiplication.
+ @param v vector to multiply with.
+ @return matric vector product.
+ Compute and return the product of the current matrix with the
+ vector given in the argument. */
+ FGColumnVector3 operator*(const FGColumnVector3& v) const;
+
+ /** Matrix subtraction.
+ @param B matrix to add to.
+ @return difference of the matrices.
+ Compute and return the sum of the current matrix and the matrix
+ B given in the argument. */
+ FGMatrix33 operator-(const FGMatrix33& B) const;
+
+ /** Matrix addition.
+ @param B matrix to add to.
+ @return sum of the matrices.
+ Compute and return the sum of the current matrix and the matrix
+ B given in the argument. */
+ FGMatrix33 operator+(const FGMatrix33& B) const;
+
+ /** Matrix product.
+ @param B matrix to add to.
+ @return product of the matrices.
+ Compute and return the product of the current matrix and the matrix
+ B given in the argument. */
+ FGMatrix33 operator*(const FGMatrix33& B) const;
+
+ /** Multiply the matrix with a scalar.
+ @param scalar scalar factor to multiply with.
+ @return scaled matrix.
+ Compute and return the product of the current matrix with the
+ scalar value scalar given in the argument. */
+ FGMatrix33 operator*(const double scalar) const;
- friend ostream& operator<<(ostream& os, const FGMatrix33& M);
- friend istream& operator>>(istream& is, FGMatrix33& M);
+ /** Multiply the matrix with 1.0/scalar.
+ @param scalar scalar factor to divide through.
+ @return scaled matrix.
+ Compute and return the product of the current matrix with the
+ scalar value 1.0/scalar, where scalar is given in the argument. */
+ FGMatrix33 operator/(const double scalar) const;
- void operator-=(const FGMatrix33 &B);
- void operator+=(const FGMatrix33 &B);
- void operator*=(const FGMatrix33 &B);
- void operator*=(const double scalar);
- void operator/=(const double scalar);
+ /** In place matrix subtraction.
+ @param B matrix to subtract.
+ @return reference to the current matrix.
+ Compute the diffence from the current matrix and the matrix B
+ given in the argument. */
+ FGMatrix33& operator-=(const FGMatrix33 &B);
-protected:
- double data[4][4];
+ /** In place matrix addition.
+ @param B matrix to add.
+ @return reference to the current matrix.
+ Compute the sum of the current matrix and the matrix B
+ given in the argument. */
+ FGMatrix33& operator+=(const FGMatrix33 &B);
+
+ /** In place matrix multiplication.
+ @param B matrix to multiply with.
+ @return reference to the current matrix.
+ Compute the product of the current matrix and the matrix B
+ given in the argument. */
+ FGMatrix33& operator*=(const FGMatrix33 &B);
+
+ /** In place matrix scale.
+ @param scalar scalar value to multiply with.
+ @return reference to the current matrix.
+ Compute the product of the current matrix and the scalar value scalar
+ given in the argument. */
+ FGMatrix33& operator*=(const double scalar);
+
+ /** In place matrix scale.
+ @param scalar scalar value to divide through.
+ @return reference to the current matrix.
+ Compute the product of the current matrix and the scalar value
+ 1.0/scalar, where scalar is given in the argument. */
+ FGMatrix33& operator/=(const double scalar);
private:
- void TransposeSquare(void);
- unsigned int rowCtr, colCtr;
+ double data[eRows*eColumns];
+
void Debug(int from);
};
+
+/** Scalar multiplication.
+ @param scalar scalar value to multiply with.
+ @param A Matrix to multiply.
+ Multiply the Matrix with a scalar value.*/
+inline FGMatrix33 operator*(double scalar, const FGMatrix33& A) {
+ // use already defined operation.
+ return A*scalar;
}
+
+/** Write matrix 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 FGMatrix33& M);
+
+/** Read matrix from a stream.
+ @param os Stream to read from.
+ @param M Matrix to initialize with the values from the stream.
+ Read matrix from a stream.*/
+istream& operator>>(istream& is, FGMatrix33& M);
+
+} // namespace JSBSim
+
#endif
projects / flightgear.git / blobdiff