273 lines
10 KiB
C++
273 lines
10 KiB
C++
/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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Header: FGColumnVector3.h
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Author: Originally by Tony Peden [formatted and adapted here by Jon Berndt]
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Date started: Unknown
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------------- Copyright (C) 2001 by Tony Peden and Jon S. Berndt (jon@jsbsim.org)
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This program is free software; you can redistribute it and/or modify it under
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the terms of the GNU Lesser General Public License as published by the Free Software
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Foundation; either version 2 of the License, or (at your option) any later
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version.
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This program is distributed in the hope that it will be useful, but WITHOUT
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ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
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details.
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You should have received a copy of the GNU Lesser General Public License along with
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this program; if not, write to the Free Software Foundation, Inc., 59 Temple
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Place - Suite 330, Boston, MA 02111-1307, USA.
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Further information about the GNU Lesser General Public License can also be found on
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the world wide web at http://www.gnu.org.
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HISTORY
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--------------------------------------------------------------------------------
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??/??/???? ?? Initial version and more.
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03/06/2004 MF Rework, document and do much inlineing.
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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SENTRY
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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#ifndef FGCOLUMNVECTOR3_H
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#define FGCOLUMNVECTOR3_H
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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INCLUDES
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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#include <iosfwd>
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#include <string>
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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DEFINITIONS
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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#define ID_COLUMNVECTOR3 "$Id: FGColumnVector3.h,v 1.18 2013/11/30 10:25:33 bcoconni Exp $"
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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FORWARD DECLARATIONS
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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namespace JSBSim {
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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CLASS DOCUMENTATION
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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/** This class implements a 3 element column vector.
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@author Jon S. Berndt, Tony Peden, et. al.
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@version $Id: FGColumnVector3.h,v 1.18 2013/11/30 10:25:33 bcoconni Exp $
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*/
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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CLASS DECLARATION
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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class FGColumnVector3
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{
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public:
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/** Default initializer.
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Create a zero vector. */
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FGColumnVector3(void);
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/** Initialization by given values.
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@param X value of the x-conponent.
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@param Y value of the y-conponent.
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@param Z value of the z-conponent.
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Create a vector from the doubles given in the arguments. */
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FGColumnVector3(const double X, const double Y, const double Z) {
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data[0] = X;
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data[1] = Y;
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data[2] = Z;
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}
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/** Copy constructor.
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@param v Vector which is used for initialization.
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Create copy of the vector given in the argument. */
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FGColumnVector3(const FGColumnVector3& v) {
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data[0] = v.data[0];
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data[1] = v.data[1];
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data[2] = v.data[2];
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}
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/// Destructor.
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~FGColumnVector3(void) { }
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/** Read access the entries of the vector.
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@param idx the component index.
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Return the value of the matrix entry at the given index.
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Indices are counted starting with 1.
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Note that the index given in the argument is unchecked. */
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double operator()(const unsigned int idx) const { return data[idx-1]; }
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/** Write access the entries of the vector.
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@param idx the component index.
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Return a reference to the vector entry at the given index.
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Indices are counted starting with 1.
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Note that the index given in the argument is unchecked. */
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double& operator()(const unsigned int idx) { return data[idx-1]; }
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/** Read access the entries of the vector.
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@param idx the component index.
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Return the value of the matrix entry at the given index.
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Indices are counted starting with 1.
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This function is just a shortcut for the <tt>double
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operator()(unsigned int idx) const</tt> function. It is
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used internally to access the elements in a more convenient way.
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Note that the index given in the argument is unchecked. */
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double Entry(const unsigned int idx) const { return data[idx-1]; }
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/** Write access the entries of the vector.
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@param idx the component index.
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Return a reference to the vector entry at the given index.
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Indices are counted starting with 1.
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This function is just a shortcut for the <tt>double&
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operator()(unsigned int idx)</tt> function. It is
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used internally to access the elements in a more convenient way.
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Note that the index given in the argument is unchecked. */
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double& Entry(const unsigned int idx) { return data[idx-1]; }
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/** Prints the contents of the vector
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@param delimeter the item separator (tab or comma)
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@return a string with the delimeter-separated contents of the vector */
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std::string Dump(const std::string& delimeter) const;
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/** Assignment operator.
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@param b source vector.
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Copy the content of the vector given in the argument into *this. */
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FGColumnVector3& operator=(const FGColumnVector3& b) {
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data[0] = b.data[0];
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data[1] = b.data[1];
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data[2] = b.data[2];
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return *this;
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}
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/** Comparison operator.
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@param b other vector.
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Returns true if both vectors are exactly the same. */
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bool operator==(const FGColumnVector3& b) const {
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return data[0] == b.data[0] && data[1] == b.data[1] && data[2] == b.data[2];
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}
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/** Comparison operator.
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@param b other vector.
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Returns false if both vectors are exactly the same. */
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bool operator!=(const FGColumnVector3& b) const { return ! operator==(b); }
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/** Multiplication by a scalar.
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@param scalar scalar value to multiply the vector with.
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@return The resulting vector from the multiplication with that scalar.
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Multiply the vector with the scalar given in the argument. */
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FGColumnVector3 operator*(const double scalar) const {
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return FGColumnVector3(scalar*data[0], scalar*data[1], scalar*data[2]);
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}
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/** Multiply by 1/scalar.
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@param scalar scalar value to devide the vector through.
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@return The resulting vector from the division through that scalar.
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Multiply the vector with the 1/scalar given in the argument. */
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FGColumnVector3 operator/(const double scalar) const;
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/** Cross product multiplication.
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@param V vector to multiply with.
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@return The resulting vector from the cross product multiplication.
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Compute and return the cross product of the current vector with
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the given argument. */
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FGColumnVector3 operator*(const FGColumnVector3& V) const {
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return FGColumnVector3( data[1] * V.data[2] - data[2] * V.data[1],
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data[2] * V.data[0] - data[0] * V.data[2],
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data[0] * V.data[1] - data[1] * V.data[0] );
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}
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/// Addition operator.
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FGColumnVector3 operator+(const FGColumnVector3& B) const {
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return FGColumnVector3( data[0] + B.data[0], data[1] + B.data[1], data[2] + B.data[2] );
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}
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/// Subtraction operator.
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FGColumnVector3 operator-(const FGColumnVector3& B) const {
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return FGColumnVector3( data[0] - B.data[0], data[1] - B.data[1], data[2] - B.data[2] );
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}
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/// Subtract an other vector.
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FGColumnVector3& operator-=(const FGColumnVector3 &B) {
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data[0] -= B.data[0];
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data[1] -= B.data[1];
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data[2] -= B.data[2];
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return *this;
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}
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/// Add an other vector.
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FGColumnVector3& operator+=(const FGColumnVector3 &B) {
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data[0] += B.data[0];
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data[1] += B.data[1];
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data[2] += B.data[2];
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return *this;
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}
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/// Scale by a scalar.
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FGColumnVector3& operator*=(const double scalar) {
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data[0] *= scalar;
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data[1] *= scalar;
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data[2] *= scalar;
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return *this;
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}
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/// Scale by a 1/scalar.
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FGColumnVector3& operator/=(const double scalar);
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void InitMatrix(void) { data[0] = data[1] = data[2] = 0.0; }
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void InitMatrix(const double a) { data[0] = data[1] = data[2] = a; }
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void InitMatrix(const double a, const double b, const double c) {
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data[0]=a; data[1]=b; data[2]=c;
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}
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/** Length of the vector.
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Compute and return the euclidean norm of this vector. */
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double Magnitude(void) const;
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/** Length of the vector in a coordinate axis plane.
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Compute and return the euclidean norm of this vector projected into
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the coordinate axis plane idx1-idx2. */
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double Magnitude(const int idx1, const int idx2) const;
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/** Normalize.
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Normalize the vector to have the Magnitude() == 1.0. If the vector
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is equal to zero it is left untouched. */
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FGColumnVector3& Normalize(void);
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private:
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double data[3];
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};
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/** Dot product of two vectors
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Compute and return the euclidean dot (or scalar) product of two vectors
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v1 and v2 */
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inline double DotProduct(const FGColumnVector3& v1, const FGColumnVector3& v2) {
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return v1(1)*v2(1) + v1(2)*v2(2) + v1(3)*v2(3);
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}
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/** Scalar multiplication.
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@param scalar scalar value to multiply with.
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@param A Vector to multiply.
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Multiply the Vector with a scalar value. Note: At this time, this
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operator MUST be inlined, or a multiple definition link error will occur.*/
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inline FGColumnVector3 operator*(double scalar, const FGColumnVector3& A) {
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// use already defined operation.
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return A*scalar;
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}
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/** Write vector to a stream.
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@param os Stream to write to.
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@param col vector to write.
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Write the vector to a stream.*/
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std::ostream& operator<<(std::ostream& os, const FGColumnVector3& col);
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} // namespace JSBSim
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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#endif
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