433 lines
11 KiB
C++
433 lines
11 KiB
C++
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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Module: FGMatrix33.cpp
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Author: Originally by Tony Peden [formatted here (and broken??) by JSB]
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Date started: 1998
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Purpose: FGMatrix33 class
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Called by: Various
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FUNCTIONAL DESCRIPTION
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--------------------------------------------------------------------------------
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HISTORY
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--------------------------------------------------------------------------------
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??/??/?? TP Created
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03/16/2000 JSB Added exception throwing
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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INCLUDES
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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#include "FGMatrix33.h"
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#include "FGColumnVector3.h"
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static const char *IdSrc = "$Id$";
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static const char *IdHdr = ID_MATRIX33;
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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CLASS IMPLEMENTATION
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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FGMatrix33::FGMatrix33(void)
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{
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InitMatrix();
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rowCtr = colCtr = 1;
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if (debug_lvl & 2) cout << "Instantiated: FGMatrix33" << endl;
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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FGMatrix33::FGMatrix33(int r, int c)
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{
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InitMatrix();
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rowCtr = colCtr = 1;
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if (debug_lvl & 2) cout << "Instantiated: FGMatrix33" << endl;
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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FGMatrix33::FGMatrix33(const FGMatrix33& M)
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{
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rowCtr = colCtr = 1;
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width = M.width;
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prec = M.prec;
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delim = M.delim;
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origin = M.origin;
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data[1][1] = M.data[1][1];
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data[1][2] = M.data[1][2];
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data[1][3] = M.data[1][3];
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data[2][1] = M.data[2][1];
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data[2][2] = M.data[2][2];
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data[2][3] = M.data[2][3];
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data[3][1] = M.data[3][1];
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data[3][2] = M.data[3][2];
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data[3][3] = M.data[3][3];
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if (debug_lvl & 2) cout << "Instantiated: FGMatrix33" << endl;
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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FGMatrix33::~FGMatrix33(void)
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{
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rowCtr = colCtr = 1;
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if (debug_lvl & 2) cout << "Destroyed: FGMatrix33" << endl;
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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ostream& operator<<(ostream& os, const FGMatrix33& M)
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{
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for (unsigned int i=1; i<=M.Rows(); i++) {
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for (unsigned int j=1; j<=M.Cols(); j++) {
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if (i == M.Rows() && j == M.Cols())
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os << M.data[i][j];
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else
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os << M.data[i][j] << ", ";
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}
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}
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return os;
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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FGMatrix33& FGMatrix33::operator<<(const float ff)
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{
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data[rowCtr][colCtr] = ff;
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if (++colCtr > Cols()) {
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colCtr = 1;
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if (++rowCtr > Rows())
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rowCtr = 1;
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}
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return *this;
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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istream& operator>>(istream& is, FGMatrix33& M)
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{
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for (unsigned int i=1; i<=M.Rows(); i++) {
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for (unsigned int j=1; j<=M.Cols(); j++) {
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is >> M.data[i][j];
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}
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}
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return is;
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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FGMatrix33& FGMatrix33::operator=(const FGMatrix33& M)
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{
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if (&M != this) {
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width = M.width;
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prec = M.prec;
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delim = M.delim;
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origin = M.origin;
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data[1][1] = M.data[1][1];
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data[1][2] = M.data[1][2];
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data[1][3] = M.data[1][3];
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data[2][1] = M.data[2][1];
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data[2][2] = M.data[2][2];
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data[2][3] = M.data[2][3];
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data[3][1] = M.data[3][1];
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data[3][2] = M.data[3][2];
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data[3][3] = M.data[3][3];
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}
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return *this;
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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void FGMatrix33::SetOParams(char delim,int width,int prec,int origin)
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{
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FGMatrix33::delim = delim;
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FGMatrix33::width = width;
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FGMatrix33::prec = prec;
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FGMatrix33::origin = origin;
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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void FGMatrix33::InitMatrix(double value)
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{
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if (data) {
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data[1][1] = value;
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data[1][2] = value;
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data[1][3] = value;
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data[2][1] = value;
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data[2][2] = value;
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data[2][3] = value;
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data[3][1] = value;
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data[3][2] = value;
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data[3][3] = value;
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}
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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void FGMatrix33::InitMatrix(void)
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{
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this->InitMatrix(0);
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}
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// *****************************************************************************
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// binary operators ************************************************************
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// *****************************************************************************
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FGMatrix33 FGMatrix33::operator-(const FGMatrix33& M)
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{
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FGMatrix33 Diff;
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Diff(1,1) = data[1][1] - M(1,1);
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Diff(1,2) = data[1][2] - M(1,2);
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Diff(1,3) = data[1][3] - M(1,3);
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Diff(2,1) = data[2][1] - M(2,1);
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Diff(2,2) = data[2][2] - M(2,2);
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Diff(2,3) = data[2][3] - M(2,3);
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Diff(3,1) = data[3][1] - M(3,1);
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Diff(3,2) = data[3][2] - M(3,2);
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Diff(3,3) = data[3][3] - M(3,3);
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return Diff;
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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void FGMatrix33::operator-=(const FGMatrix33 &M)
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{
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data[1][1] -= M(1,1);
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data[1][2] -= M(1,2);
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data[1][3] -= M(1,3);
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data[2][1] -= M(2,1);
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data[2][2] -= M(2,2);
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data[2][3] -= M(2,3);
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data[3][1] -= M(3,1);
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data[3][2] -= M(3,2);
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data[3][3] -= M(3,3);
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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FGMatrix33 FGMatrix33::operator+(const FGMatrix33& M)
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{
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FGMatrix33 Sum;
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Sum(1,1) = data[1][1] + M(1,1);
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Sum(1,2) = data[1][2] + M(1,2);
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Sum(1,3) = data[1][3] + M(1,3);
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Sum(2,1) = data[2][1] + M(2,1);
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Sum(2,2) = data[2][2] + M(2,2);
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Sum(2,3) = data[2][3] + M(2,3);
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Sum(3,1) = data[3][1] + M(3,1);
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Sum(3,2) = data[3][2] + M(3,2);
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Sum(3,3) = data[3][3] + M(3,3);
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return Sum;
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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void FGMatrix33::operator+=(const FGMatrix33 &M)
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{
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data[1][1] += M(1,1);
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data[1][2] += M(1,2);
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data[1][3] += M(1,3);
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data[2][1] += M(2,1);
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data[2][2] += M(2,2);
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data[2][3] += M(2,3);
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data[3][1] += M(3,1);
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data[3][2] += M(3,2);
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data[3][3] += M(3,3);
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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FGMatrix33 FGMatrix33::operator*(const double scalar)
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{
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FGMatrix33 Product;
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Product(1,1) = data[1][1] * scalar;
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Product(1,2) = data[1][2] * scalar;
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Product(1,3) = data[1][3] * scalar;
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Product(2,1) = data[2][1] * scalar;
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Product(2,2) = data[2][2] * scalar;
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Product(2,3) = data[2][3] * scalar;
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Product(3,1) = data[3][1] * scalar;
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Product(3,2) = data[3][2] * scalar;
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Product(3,3) = data[3][3] * scalar;
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return Product;
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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FGMatrix33 operator*(double scalar, FGMatrix33 &M)
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{
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FGMatrix33 Product;
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Product(1,1) = M(1,1) * scalar;
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Product(1,2) = M(1,2) * scalar;
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Product(1,3) = M(1,3) * scalar;
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Product(2,1) = M(2,1) * scalar;
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Product(2,2) = M(2,2) * scalar;
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Product(2,3) = M(2,3) * scalar;
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Product(3,1) = M(3,1) * scalar;
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Product(3,2) = M(3,2) * scalar;
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Product(3,3) = M(3,3) * scalar;
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return Product;
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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void FGMatrix33::operator*=(const double scalar)
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{
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data[1][1] *= scalar;
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data[1][2] *= scalar;
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data[1][3] *= scalar;
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data[2][1] *= scalar;
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data[2][2] *= scalar;
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data[2][3] *= scalar;
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data[3][1] *= scalar;
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data[3][2] *= scalar;
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data[3][3] *= scalar;
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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FGMatrix33 FGMatrix33::operator*(const FGMatrix33& M)
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{
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FGMatrix33 Product;
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Product(1,1) = data[1][1]*M(1,1) + data[1][2]*M(2,1) + data[1][3]*M(3,1);
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Product(1,2) = data[1][1]*M(1,2) + data[1][2]*M(2,2) + data[1][3]*M(3,2);
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Product(1,3) = data[1][1]*M(1,3) + data[1][2]*M(2,3) + data[1][3]*M(3,3);
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Product(2,1) = data[2][1]*M(1,1) + data[2][2]*M(2,1) + data[2][3]*M(3,1);
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Product(2,2) = data[2][1]*M(1,2) + data[2][2]*M(2,2) + data[2][3]*M(3,2);
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Product(2,3) = data[2][1]*M(1,3) + data[2][2]*M(2,3) + data[2][3]*M(3,3);
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Product(3,1) = data[3][1]*M(1,1) + data[3][2]*M(2,1) + data[3][3]*M(3,1);
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Product(3,2) = data[3][1]*M(1,2) + data[3][2]*M(2,2) + data[3][3]*M(3,2);
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Product(3,3) = data[3][1]*M(1,3) + data[3][2]*M(2,3) + data[3][3]*M(3,3);
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return Product;
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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void FGMatrix33::operator*=(const FGMatrix33& M)
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{
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float a,b,c;
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a = data[1][1]; b=data[1][2]; c=data[1][3];
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data[1][1] = a*M(1,1) + b*M(2,1) + c*M(3,1);
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data[1][2] = a*M(1,2) + b*M(2,2) + c*M(3,2);
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data[1][3] = a*M(1,3) + b*M(2,3) + c*M(3,3);
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a = data[2][1]; b=data[2][2]; c=data[2][3];
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data[2][1] = a*M(1,1) + b*M(2,1) + c*M(3,1);
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data[2][2] = a*M(1,2) + b*M(2,2) + c*M(3,2);
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data[2][3] = a*M(1,3) + b*M(2,3) + c*M(3,3);
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a = data[3][1]; b=data[3][2]; c=data[3][3];
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data[3][1] = a*M(1,1) + b*M(2,1) + c*M(3,1);
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data[3][2] = a*M(1,2) + b*M(2,2) + c*M(3,2);
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data[3][3] = a*M(1,3) + b*M(2,3) + c*M(3,3);
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}
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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FGMatrix33 FGMatrix33::operator/(const double scalar)
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{
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FGMatrix33 Quot;
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if( scalar != 0 ) {
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double tmp = 1.0/scalar;
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Quot(1,1) = data[1][1] * tmp;
|
||
|
|
Quot(1,2) = data[1][2] * tmp;
|
||
|
|
Quot(1,3) = data[1][3] * tmp;
|
||
|
|
Quot(2,1) = data[2][1] * tmp;
|
||
|
|
Quot(2,2) = data[2][2] * tmp;
|
||
|
|
Quot(2,3) = data[2][3] * tmp;
|
||
|
|
Quot(3,1) = data[3][1] * tmp;
|
||
|
|
Quot(3,2) = data[3][2] * tmp;
|
||
|
|
Quot(3,3) = data[3][3] * tmp;
|
||
|
|
} else {
|
||
|
|
MatrixException mE;
|
||
|
|
mE.Message = "Attempt to divide by zero in method FGMatrix33::operator/(const double scalar)";
|
||
|
|
throw mE;
|
||
|
|
}
|
||
|
|
return Quot;
|
||
|
|
}
|
||
|
|
|
||
|
|
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||
|
|
|
||
|
|
void FGMatrix33::operator/=(const double scalar)
|
||
|
|
{
|
||
|
|
if( scalar != 0 ) {
|
||
|
|
double tmp = 1.0/scalar;
|
||
|
|
data[1][1] *= tmp;
|
||
|
|
data[1][2] *= tmp;
|
||
|
|
data[1][3] *= tmp;
|
||
|
|
data[2][1] *= tmp;
|
||
|
|
data[2][2] *= tmp;
|
||
|
|
data[2][3] *= tmp;
|
||
|
|
data[3][1] *= tmp;
|
||
|
|
data[3][2] *= tmp;
|
||
|
|
data[3][3] *= tmp;
|
||
|
|
} else {
|
||
|
|
MatrixException mE;
|
||
|
|
mE.Message = "Attempt to divide by zero in method FGMatrix33::operator/=(const double scalar)";
|
||
|
|
throw mE;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||
|
|
|
||
|
|
void FGMatrix33::T(void)
|
||
|
|
{
|
||
|
|
for (unsigned int i=1; i<=3; i++) {
|
||
|
|
for (unsigned int j=i+1; j<=3; j++) {
|
||
|
|
double tmp = data[i][j];
|
||
|
|
data[i][j] = data[j][i];
|
||
|
|
data[j][i] = tmp;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||
|
|
|
||
|
|
FGColumnVector3 FGMatrix33::operator*(const FGColumnVector3& Col)
|
||
|
|
{
|
||
|
|
FGColumnVector3 Product;
|
||
|
|
|
||
|
|
Product(1) = data[1][1]*Col(1) + data[1][2]*Col(2) + data[1][3]*Col(3);
|
||
|
|
Product(2) = data[2][1]*Col(1) + data[2][2]*Col(2) + data[2][3]*Col(3);
|
||
|
|
Product(3) = data[3][1]*Col(1) + data[3][2]*Col(2) + data[3][3]*Col(3);
|
||
|
|
|
||
|
|
return Product;
|
||
|
|
}
|
||
|
|
|
||
|
|
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||
|
|
|
||
|
|
void FGMatrix33::Debug(void)
|
||
|
|
{
|
||
|
|
//TODO: Add your source code here
|
||
|
|
}
|
||
|
|
|
||
|
|
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
||
|
|
|