FGMatrix33.h

/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

Header: FGMatrix33.h
Author: Tony Peden, Jon Berndt, Mathias Frolich
Date started: Unknown

 ------------- Copyright (C) 2001  Jon S. Berndt (jon@jsbsim.org) -------------

 This program is free software; you can redistribute it and/or modify it under
 the terms of the GNU Lesser General Public License as published by the Free Software
 Foundation; either version 2 of the License, or (at your option) any later
 version.

 This program is distributed in the hope that it will be useful, but WITHOUT
 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
 FOR A PARTICULAR PURPOSE.  See the GNU Lesser General Public License for more
 details.

 You should have received a copy of the GNU Lesser General Public License along with
 this program; if not, write to the Free Software Foundation, Inc., 59 Temple
 Place - Suite 330, Boston, MA  02111-1307, USA.

 Further information about the GNU Lesser General Public License can also be found on
 the world wide web at http://www.gnu.org.

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
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/

#ifndef FGMATRIX33_H
#define FGMATRIX33_H

/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
INCLUDES
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/

#include <string>
#include <iosfwd>

#include "FGColumnVector3.h"

/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
DEFINITIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/

#define ID_MATRIX33 "$Id: FGMatrix33.h,v 1.17 2012/11/22 22:04:06 bcoconni Exp $"

/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
FORWARD DECLARATIONS
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/

namespace JSBSim {

class FGColumnVector3;
class FGQuaternion;

/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DOCUMENTATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/

/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
DECLARATION: MatrixException
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/

class MatrixException //: public FGJSBBase
{
public:
  std::string Message;
};

/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
CLASS DOCUMENTATION
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/

/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
DECLARATION: FGMatrix33
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/

class FGMatrix33
{
public:

  enum {
    eRows = 3,
    eColumns = 3
  };

  FGMatrix33(void);

  FGMatrix33(const FGMatrix33& M)
  {
    data[0] = M.data[0];
    data[1] = M.data[1];
    data[2] = M.data[2];
    data[3] = M.data[3];
    data[4] = M.data[4];
    data[5] = M.data[5];
    data[6] = M.data[6];
    data[7] = M.data[7];
    data[8] = M.data[8];
  }

  FGMatrix33(const double m11, const double m12, const double m13,
             const double m21, const double m22, const double m23,
             const double m31, const double m32, const double m33)
  {
    data[0] = m11;
    data[1] = m21;
    data[2] = m31;
    data[3] = m12;
    data[4] = m22;
    data[5] = m32;
    data[6] = m13;
    data[7] = m23;
    data[8] = m33;
  }

  ~FGMatrix33(void) {}

  std::string Dump(const std::string& delimeter) const;

  std::string Dump(const std::string& delimiter, const std::string& prefix) const;

  double operator()(unsigned int row, unsigned int col) const {
    return data[(col-1)*eRows+row-1];
  }

  double& operator()(unsigned int row, unsigned int col) {
    return data[(col-1)*eRows+row-1];
  }

  double Entry(unsigned int row, unsigned int col) const {
    return data[(col-1)*eRows+row-1];
  }

   double& Entry(unsigned int row, unsigned int col) {
     return data[(col-1)*eRows+row-1];
   }

   unsigned int Rows(void) const { return eRows; }

   unsigned int Cols(void) const { return eColumns; }

  FGMatrix33 Transposed(void) const {
    return FGMatrix33( data[0], data[1], data[2],
                       data[3], data[4], data[5],
                       data[6], data[7], data[8] );
  }

  void T(void);

  void InitMatrix(void);

  void InitMatrix(const double m11, const double m12, const double m13,
                  const double m21, const double m22, const double m23,
                  const double m31, const double m32, const double m33)
  {
    data[0] = m11;
    data[1] = m21;
    data[2] = m31;
    data[3] = m12;
    data[4] = m22;
    data[5] = m32;
    data[6] = m13;
    data[7] = m23;
    data[8] = m33;
  }

  FGQuaternion GetQuaternion(void) const;

  FGColumnVector3 GetEuler() const;

  double Determinant(void) const;

  bool Invertible(void) const { return 0.0 != Determinant(); }

  FGMatrix33 Inverse(void) const;

  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;
  }

  FGColumnVector3 operator*(const FGColumnVector3& v) const;

  FGMatrix33 operator-(const FGMatrix33& B) const;

  FGMatrix33 operator+(const FGMatrix33& B) const;

  FGMatrix33 operator*(const FGMatrix33& B) const;

  FGMatrix33 operator*(const double scalar) const;

  FGMatrix33 operator/(const double scalar) const;

  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);

private:
  double data[eRows*eColumns];
};

inline FGMatrix33 operator*(double scalar, const FGMatrix33& A) {
  // use already defined operation.
  return A*scalar;
}

std::ostream& operator<<(std::ostream& os, const FGMatrix33& M);

std::istream& operator>>(std::istream& is, FGMatrix33& M);

} // namespace JSBSim
#endif