FGMatrix33 Class Reference

Handles matrix math operations. More...

#include <FGMatrix33.h>

Public Types
enum	{ eRows = 3, eColumns = 3 }

Public Member Functions
	FGMatrix33 (void)
	Default initializer. More...
	FGMatrix33 (const FGMatrix33 &M)
	Copy constructor. More...
	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)
	Initialization by given values. More...
	~FGMatrix33 (void)
	Destructor.
unsigned int	Cols (void) const
	Number of cloumns in the matrix. More...
double	Determinant (void) const
	Determinant of the matrix. More...
std::string	Dump (const std::string &delimeter) const
	Prints the contents of the matrix. More...
std::string	Dump (const std::string &delimiter, const std::string &prefix) const
	Prints the contents of the matrix. More...
double	Entry (unsigned int row, unsigned int col) const
	Read access the entries of the matrix. More...
double &	Entry (unsigned int row, unsigned int col)
	Write access the entries of the matrix. More...
FGColumnVector3	GetEuler () const
	Returns the Euler angle column vector associated with this matrix.
FGQuaternion	GetQuaternion (void) const
	Returns the quaternion associated with this direction cosine (rotation) matrix.
void	InitMatrix (void)
	Initialize the matrix. More...
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)
	Initialize the matrix. More...
FGMatrix33	Inverse (void) const
	Return the inverse of the matrix. More...
bool	Invertible (void) const
	Return if the matrix is invertible. More...
double	operator() (unsigned int row, unsigned int col) const
	Read access the entries of the matrix. More...
double &	operator() (unsigned int row, unsigned int col)
	Write access the entries of the matrix. More...
FGColumnVector3	operator* (const FGColumnVector3 &v) const
	Matrix vector multiplication. More...
FGMatrix33	operator* (const FGMatrix33 &B) const
	Matrix product. More...
FGMatrix33	operator* (const double scalar) const
	Multiply the matrix with a scalar. More...
FGMatrix33 &	operator*= (const FGMatrix33 &B)
	In place matrix multiplication. More...
FGMatrix33 &	operator*= (const double scalar)
	In place matrix scale. More...
FGMatrix33	operator+ (const FGMatrix33 &B) const
	Matrix addition. More...
FGMatrix33 &	operator+= (const FGMatrix33 &B)
	In place matrix addition. More...
FGMatrix33	operator- (const FGMatrix33 &B) const
	Matrix subtraction. More...
FGMatrix33 &	operator-= (const FGMatrix33 &B)
	In place matrix subtraction. More...
FGMatrix33	operator/ (const double scalar) const
	Multiply the matrix with 1.0/scalar. More...
FGMatrix33 &	operator/= (const double scalar)
	In place matrix scale. More...
FGMatrix33 &	operator= (const FGMatrix33 &A)
	Assignment operator. More...
unsigned int	Rows (void) const
	Number of rows in the matrix. More...
void	T (void)
	Transposes this matrix. More...
FGMatrix33	Transposed (void) const
	Transposed matrix. More...

Detailed Description

Handles matrix math operations.

Author

Tony Peden, Jon Berndt, Mathias Froelich

Definition at line 92 of file FGMatrix33.h.

Constructor & Destructor Documentation

FGMatrix33() [1/3]

FGMatrix33

(

void

)

Default initializer.

Create a zero matrix.

Definition at line 61 of file FGMatrix33.cpp.

{
  data[0] = data[1] = data[2] = data[3] = data[4] = data[5] =
    data[6] = data[7] = data[8] = 0.0;
}

FGMatrix33() [2/3]

FGMatrix33 ( const FGMatrix33 &  M )

inline

Copy constructor.

Parameters

M	Matrix which is used for initialization.

Create copy of the matrix given in the argument.

Definition at line 113 of file FGMatrix33.h.

  {
    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() [3/3]

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  )

inline

Initialization by given values.

Parameters

m11	value of the 1,1 Matrix element.
m12	value of the 1,2 Matrix element.
m13	value of the 1,3 Matrix element.
m21	value of the 2,1 Matrix element.
m22	value of the 2,2 Matrix element.
m23	value of the 2,3 Matrix element.
m31	value of the 3,1 Matrix element.
m32	value of the 3,2 Matrix element.
m33	value of the 3,3 Matrix element.

Create a matrix from the doubles given in the arguments.

Definition at line 140 of file FGMatrix33.h.

  {
    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;
  }

Member Function Documentation

Cols()

unsigned int Cols ( void  ) const

inline

Number of cloumns in the matrix.

Returns

the number of columns in the matrix.

Definition at line 236 of file FGMatrix33.h.

{ return eColumns; }

Here is the caller graph for this function:

Determinant()

double Determinant

(

void

)

const

Determinant of the matrix.

Returns

the determinant of the matrix.

Definition at line 219 of file FGMatrix33.cpp.

                                         {
  return data[0]*data[4]*data[8] + data[3]*data[7]*data[2]
       + data[6]*data[1]*data[5] - data[6]*data[4]*data[2]
       - data[3]*data[1]*data[8] - data[7]*data[5]*data[0];
}

Dump() [1/2]

string Dump

(

const std::string &

delimeter

)

const

Prints the contents of the matrix.

Parameters

delimeter

the item separator (tab or comma)

Returns

a string with the delimeter-separated contents of the matrix

Definition at line 69 of file FGMatrix33.cpp.

{
  ostringstream buffer;
  buffer << setw(12) << setprecision(10) << data[0] << delimiter;
  buffer << setw(12) << setprecision(10) << data[3] << delimiter;
  buffer << setw(12) << setprecision(10) << data[6] << delimiter;
  buffer << setw(12) << setprecision(10) << data[1] << delimiter;
  buffer << setw(12) << setprecision(10) << data[4] << delimiter;
  buffer << setw(12) << setprecision(10) << data[7] << delimiter;
  buffer << setw(12) << setprecision(10) << data[2] << delimiter;
  buffer << setw(12) << setprecision(10) << data[5] << delimiter;
  buffer << setw(12) << setprecision(10) << data[8];
  return buffer.str();
}

Here is the caller graph for this function:

Dump() [2/2]

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

Prints the contents of the matrix.

Parameters

delimeter	the item separator (tab or comma, etc.)
prefix	an additional prefix that is used to indent the 3X3 matrix printout

Returns

a string with the delimeter-separated contents of the matrix

Definition at line 86 of file FGMatrix33.cpp.

{
  ostringstream buffer;

  buffer << prefix << right << fixed << setw(9) << setprecision(6) << data[0] << delimiter;
  buffer << right << fixed << setw(9) << setprecision(6) << data[3] << delimiter;
  buffer << right << fixed << setw(9) << setprecision(6) << data[6] << endl;

  buffer << prefix << right << fixed << setw(9) << setprecision(6) << data[1] << delimiter;
  buffer << right << fixed << setw(9) << setprecision(6) << data[4] << delimiter;
  buffer << right << fixed << setw(9) << setprecision(6) << data[7] << endl;

  buffer << prefix << right << fixed << setw(9) << setprecision(6) << data[2] << delimiter;
  buffer << right << fixed << setw(9) << setprecision(6) << data[5] << delimiter;
  buffer << right << fixed << setw(9) << setprecision(6) << data[8];

  buffer << setw(0) << left;

  return buffer.str();
}

Entry() [1/2]

double Entry ( unsigned int  row, unsigned int  col  ) const

inline

Read access the entries of the matrix.

This function is just a shortcut for the 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.

Parameters

row	Row index.
col	Column index.

Returns

the value of the matrix entry at the given row and column indices. Indices are counted starting with 1.

Definition at line 207 of file FGMatrix33.h.

                                                         {
    return data[(col-1)*eRows+row-1];
  }

Entry() [2/2]

double& Entry ( unsigned int  row, unsigned int  col  )

inline

Write access the entries of the matrix.

This function is just a shortcut for the 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.

Parameters

row	Row index.
col	Column index.

Returns

a reference to the matrix entry at the given row and column indices. Indices are counted starting with 1.

Definition at line 224 of file FGMatrix33.h.

                                                     {
     return data[(col-1)*eRows+row-1];
   }

InitMatrix() [1/2]

void InitMatrix

(

void

)

Initialize the matrix.

This function initializes a matrix to all 0.0.

Definition at line 257 of file FGMatrix33.cpp.

{
  data[0] = data[1] = data[2] = data[3] = data[4] = data[5] =
    data[6] = data[7] = data[8] = 0.0;
}

Here is the caller graph for this function:

InitMatrix() [2/2]

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  )

inline

Initialize the matrix.

This function initializes a matrix to user specified values.

Definition at line 262 of file FGMatrix33.h.

  {
    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;
  }

Inverse()

FGMatrix33 Inverse

(

void

)

const

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 Invertible() call before.

Definition at line 227 of file FGMatrix33.cpp.

                                         {
  // Compute the inverse of a general matrix using Cramers rule.
  // I guess googling for cramers rule gives tons of references
  // for this. :)

  if (Determinant() != 0.0) {
    double rdet = 1.0/Determinant();

    double i11 = rdet*(data[4]*data[8]-data[7]*data[5]);
    double i21 = rdet*(data[7]*data[2]-data[1]*data[8]);
    double i31 = rdet*(data[1]*data[5]-data[4]*data[2]);
    double i12 = rdet*(data[6]*data[5]-data[3]*data[8]);
    double i22 = rdet*(data[0]*data[8]-data[6]*data[2]);
    double i32 = rdet*(data[3]*data[2]-data[0]*data[5]);
    double i13 = rdet*(data[3]*data[7]-data[6]*data[4]);
    double i23 = rdet*(data[6]*data[1]-data[0]*data[7]);
    double i33 = rdet*(data[0]*data[4]-data[3]*data[1]);

    return FGMatrix33( i11, i12, i13,
                       i21, i22, i23,
                       i31, i32, i33 );
  } else {
    return FGMatrix33( 0, 0, 0,
                       0, 0, 0,
                       0, 0, 0 );
  }
}

Here is the caller graph for this function:

Invertible()

bool Invertible ( void  ) const

inline

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.

Definition at line 297 of file FGMatrix33.h.

{ return 0.0 != Determinant(); }

operator()() [1/2]

double operator() ( unsigned int  row, unsigned int  col  ) const

inline

Read access the entries of the matrix.

Parameters

row	Row index.
col	Column index.

Returns

the value of the matrix entry at the given row and column indices. Indices are counted starting with 1.

Definition at line 177 of file FGMatrix33.h.

                                                              {
    return data[(col-1)*eRows+row-1];
  }

operator()() [2/2]

double& operator() ( unsigned int  row, unsigned int  col  )

inline

Write access the entries of the matrix.

Note that the indices given in the arguments are unchecked.

Parameters

row	Row index.
col	Column index.

Returns

a reference to the matrix entry at the given row and column indices. Indices are counted starting with 1.

Definition at line 190 of file FGMatrix33.h.

                                                         {
    return data[(col-1)*eRows+row-1];
  }

operator*() [1/3]

FGColumnVector3 operator*

(

const FGColumnVector3 &

v

)

const

Matrix vector multiplication.

Parameters

v	vector to multiply with.

Returns

matric vector product.

Compute and return the product of the current matrix with the vector given in the argument.

Definition at line 489 of file FGMatrix33.cpp.

{
  double v1 = v(1);
  double v2 = v(2);
  double v3 = v(3);

  double tmp1 = v1*data[0];  //[(col-1)*eRows+row-1]
  double tmp2 = v1*data[1];
  double tmp3 = v1*data[2];

  tmp1 += v2*data[3];
  tmp2 += v2*data[4];
  tmp3 += v2*data[5];

  tmp1 += v3*data[6];
  tmp2 += v3*data[7];
  tmp3 += v3*data[8];

  return FGColumnVector3( tmp1, tmp2, tmp3 );
}

operator*() [2/3]

FGMatrix33 operator*

(

const FGMatrix33 &

B

)

const

Matrix product.

Parameters

B	matrix to add to.

Returns

product of the matrices.

Compute and return the product of the current matrix and the matrix B given in the argument.

Definition at line 378 of file FGMatrix33.cpp.

{
  FGMatrix33 Product;

  Product.data[0] = data[0]*M.data[0] + data[3]*M.data[1] + data[6]*M.data[2];
  Product.data[3] = data[0]*M.data[3] + data[3]*M.data[4] + data[6]*M.data[5];
  Product.data[6] = data[0]*M.data[6] + data[3]*M.data[7] + data[6]*M.data[8];
  Product.data[1] = data[1]*M.data[0] + data[4]*M.data[1] + data[7]*M.data[2];
  Product.data[4] = data[1]*M.data[3] + data[4]*M.data[4] + data[7]*M.data[5];
  Product.data[7] = data[1]*M.data[6] + data[4]*M.data[7] + data[7]*M.data[8];
  Product.data[2] = data[2]*M.data[0] + data[5]*M.data[1] + data[8]*M.data[2];
  Product.data[5] = data[2]*M.data[3] + data[5]*M.data[4] + data[8]*M.data[5];
  Product.data[8] = data[2]*M.data[6] + data[5]*M.data[7] + data[8]*M.data[8];

  return Product;
}

operator*() [3/3]

FGMatrix33 operator*

(

const double

scalar

)

const

Multiply the matrix with a scalar.

Parameters

scalar

scalar factor to multiply with.

Returns

scaled matrix.

Compute and return the product of the current matrix with the scalar value scalar given in the argument.

Definition at line 331 of file FGMatrix33.cpp.

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

operator*=() [1/2]

FGMatrix33 & operator*=

(

const FGMatrix33 &

B

)

In place matrix multiplication.

Parameters

B	matrix to multiply with.

Returns

reference to the current matrix.

Compute the product of the current matrix and the matrix B given in the argument.

Definition at line 397 of file FGMatrix33.cpp.

{
  // FIXME: Make compiler friendlier
  double a,b,c;

  a = data[0]; b=data[3]; c=data[6];
  data[0] = a*M.data[0] + b*M.data[1] + c*M.data[2];
  data[3] = a*M.data[3] + b*M.data[4] + c*M.data[5];
  data[6] = a*M.data[6] + b*M.data[7] + c*M.data[8];

  a = data[1]; b=data[4]; c=data[7];
  data[1] = a*M.data[0] + b*M.data[1] + c*M.data[2];
  data[4] = a*M.data[3] + b*M.data[4] + c*M.data[5];
  data[7] = a*M.data[6] + b*M.data[7] + c*M.data[8];

  a = data[2]; b=data[5]; c=data[8];
  data[2] = a*M.data[0] + b*M.data[1] + c*M.data[2];
  data[5] = a*M.data[3] + b*M.data[4] + c*M.data[5];
  data[8] = a*M.data[6] + b*M.data[7] + c*M.data[8];

  return *this;
}

operator*=() [2/2]

FGMatrix33 & operator*=

(

const double

scalar

)

In place matrix scale.

Parameters

scalar

scalar value to multiply with.

Returns

reference to the current matrix.

Compute the product of the current matrix and the scalar value scalar given in the argument.

Definition at line 361 of file FGMatrix33.cpp.

{
  data[0] *= scalar;
  data[3] *= scalar;
  data[6] *= scalar;
  data[1] *= scalar;
  data[4] *= scalar;
  data[7] *= scalar;
  data[2] *= scalar;
  data[5] *= scalar;
  data[8] *= scalar;

  return *this;
}

operator+()

FGMatrix33 operator+

(

const FGMatrix33 &

B

)

const

Matrix addition.

Parameters

B	matrix to add to.

Returns

sum of the matrices.

Compute and return the sum of the current matrix and the matrix B given in the argument.

Definition at line 299 of file FGMatrix33.cpp.

{
  return FGMatrix33( data[0] + M.data[0],
                     data[3] + M.data[3],
                     data[6] + M.data[6],
                     data[1] + M.data[1],
                     data[4] + M.data[4],
                     data[7] + M.data[7],
                     data[2] + M.data[2],
                     data[5] + M.data[5],
                     data[8] + M.data[8] );
}

operator+=()

FGMatrix33 & operator+=

(

const FGMatrix33 &

B

)

In place matrix addition.

Parameters

B	matrix to add.

Returns

reference to the current matrix.

Compute the sum of the current matrix and the matrix B given in the argument.

Definition at line 314 of file FGMatrix33.cpp.

{
  data[0] += M.data[0];
  data[3] += M.data[3];
  data[6] += M.data[6];
  data[1] += M.data[1];
  data[4] += M.data[4];
  data[7] += M.data[7];
  data[2] += M.data[2];
  data[5] += M.data[5];
  data[8] += M.data[8];

  return *this;
}

operator-()

FGMatrix33 operator-

(

const FGMatrix33 &

B

)

const

Matrix subtraction.

Parameters

B	matrix to add to.

Returns

difference of the matrices.

Compute and return the sum of the current matrix and the matrix B given in the argument.

Definition at line 267 of file FGMatrix33.cpp.

{
  return FGMatrix33( data[0] - M.data[0],
                     data[3] - M.data[3],
                     data[6] - M.data[6],
                     data[1] - M.data[1],
                     data[4] - M.data[4],
                     data[7] - M.data[7],
                     data[2] - M.data[2],
                     data[5] - M.data[5],
                     data[8] - M.data[8] );
}

operator-=()

FGMatrix33 & operator-=

(

const FGMatrix33 &

B

)

In place matrix subtraction.

Parameters

B	matrix to subtract.

Returns

reference to the current matrix.

Compute the diffence from the current matrix and the matrix B given in the argument.

Definition at line 282 of file FGMatrix33.cpp.

{
  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];

  return *this;
}

operator/()

FGMatrix33 operator/

(

const double

scalar

)

const

Multiply the matrix with 1.0/scalar.

Parameters

scalar

scalar factor to divide through.

Returns

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.

Definition at line 422 of file FGMatrix33.cpp.

{
  FGMatrix33 Quot;

  if ( scalar != 0 ) {
    double tmp = 1.0/scalar;
    Quot.data[0] = data[0] * tmp;
    Quot.data[3] = data[3] * tmp;
    Quot.data[6] = data[6] * tmp;
    Quot.data[1] = data[1] * tmp;
    Quot.data[4] = data[4] * tmp;
    Quot.data[7] = data[7] * tmp;
    Quot.data[2] = data[2] * tmp;
    Quot.data[5] = data[5] * tmp;
    Quot.data[8] = data[8] * tmp;
  } else {
    MatrixException mE;
    mE.Message = "Attempt to divide by zero in method FGMatrix33::operator/(const double scalar)";
    throw mE;
  }
  return Quot;
}

operator/=()

FGMatrix33 & operator/=

(

const double

scalar

)

In place matrix scale.

Parameters

scalar

scalar value to divide through.

Returns

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.

Definition at line 447 of file FGMatrix33.cpp.

{
  if ( scalar != 0 ) {
    double tmp = 1.0/scalar;
    data[0] *= tmp;
    data[3] *= tmp;
    data[6] *= tmp;
    data[1] *= tmp;
    data[4] *= tmp;
    data[7] *= tmp;
    data[2] *= tmp;
    data[5] *= tmp;
    data[8] *= tmp;
  } else {
    MatrixException mE;
    mE.Message = "Attempt to divide by zero in method FGMatrix33::operator/=(const double scalar)";
    throw mE;
  }
  return *this;
}

operator=()

FGMatrix33& operator= ( const FGMatrix33 &  A )

inline

Assignment operator.

Parameters

A	source matrix.

Copy the content of the matrix given in the argument into *this.

Definition at line 313 of file FGMatrix33.h.

  {
    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;
  }

Rows()

unsigned int Rows ( void  ) const

inline

Number of rows in the matrix.

Returns

the number of rows in the matrix.

Definition at line 231 of file FGMatrix33.h.

{ return eRows; }

Here is the caller graph for this function:

T()

void T

(

void

)

Transposes this matrix.

This function only transposes this matrix. Nothing is returned.

Definition at line 470 of file FGMatrix33.cpp.

{
  double tmp;

  tmp = data[3];
  data[3] = data[1];
  data[1] = tmp;

  tmp = data[6];
  data[6] = data[2];
  data[2] = tmp;

  tmp = data[7];
  data[7] = data[5];
  data[5] = tmp;
}

Here is the caller graph for this function:

Transposed()

FGMatrix33 Transposed ( void  ) const

inline

Transposed matrix.

This function only returns the transpose of this matrix. This matrix itself remains unchanged.

Returns

the transposed matrix.

Definition at line 243 of file FGMatrix33.h.

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

Here is the caller graph for this function:

---

The documentation for this class was generated from the following files:

• FGMatrix33.h
• FGMatrix33.cpp