339 lines
9.1 KiB
C++
339 lines
9.1 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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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 <stdlib.h>
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#ifdef FGFS
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# include <math.h>
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# include <simgear/compiler.h>
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# include STL_STRING
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# include STL_FSTREAM
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# include STL_IOSTREAM
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SG_USING_STD(string);
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SG_USING_STD(ostream);
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SG_USING_STD(istream);
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SG_USING_STD(cerr);
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SG_USING_STD(cout);
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SG_USING_STD(endl);
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// SG_USING_STD(sqrt);
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#else
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# include <string>
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# if defined(sgi) && !defined(__GNUC__) && (_COMPILER_VERSION < 740)
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# include <fstream.h>
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# include <iostream.h>
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# include <math.h>
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# else
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# include <fstream>
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# include <iostream>
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# if defined(sgi) && !defined(__GNUC__)
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# include <math.h>
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# else
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# include <cmath>
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# endif
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using std::ostream;
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using std::istream;
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using std::cerr;
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using std::cout;
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using std::endl;
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using std::sqrt;
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# endif
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using std::string;
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#endif
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#include "FGJSBBase.h"
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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DEFINITIONS
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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#define ID_COLUMNVECTOR3 "$Id$"
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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 dimensional vector.
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@author Jon S. Berndt, Tony Peden, et. al.
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@version $Id$
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*/
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/*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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CLASS DECLARATION
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
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class FGColumnVector3 : public FGJSBBase
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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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*/
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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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*/
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FGColumnVector3(double X, double Y, 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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Debug(0);
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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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*/
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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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Debug(0);
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}
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/** Destructor.
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*/
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~FGColumnVector3(void) { Debug(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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Note that the index given in the argument is unchecked.
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*/
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double operator()(unsigned int idx) const { return Entry(idx); }
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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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*/
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double& operator()(unsigned int idx) { return Entry(idx); }
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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 @ref double
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operator()(unsigned int idx) const 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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*/
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double Entry(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 @ref double&
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operator()(unsigned int idx) 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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*/
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double& Entry(unsigned int idx) { return data[idx-1]; }
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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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*/
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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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/** 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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*/
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FGColumnVector3 operator*(const double scalar) const {
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return FGColumnVector3(scalar*Entry(1), scalar*Entry(2), scalar*Entry(3));
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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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*/
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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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*/
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FGColumnVector3 operator*(const FGColumnVector3& V) const {
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return FGColumnVector3( Entry(2) * V(3) - Entry(3) * V(2),
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Entry(3) * V(1) - Entry(1) * V(3),
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Entry(1) * V(2) - Entry(2) * V(1) );
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}
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/** Addition operator.
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*/
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FGColumnVector3 operator+(const FGColumnVector3& B) const {
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return FGColumnVector3( Entry(1) + B(1), Entry(2) + B(2), Entry(3) + B(3) );
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}
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/** Subtraction operator.
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*/
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FGColumnVector3 operator-(const FGColumnVector3& B) const {
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return FGColumnVector3( Entry(1) - B(1), Entry(2) - B(2), Entry(3) - B(3) );
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}
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/** Subtract an other vector.
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*/
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FGColumnVector3& operator-=(const FGColumnVector3 &B) {
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Entry(1) -= B(1);
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Entry(2) -= B(2);
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Entry(3) -= B(3);
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return *this;
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}
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/** Add an other vector.
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*/
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FGColumnVector3& operator+=(const FGColumnVector3 &B) {
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Entry(1) += B(1);
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Entry(2) += B(2);
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Entry(3) += B(3);
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return *this;
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}
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/** Scale by a scalar.
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*/
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FGColumnVector3& operator*=(const double scalar) {
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Entry(1) *= scalar;
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Entry(2) *= scalar;
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Entry(3) *= scalar;
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return *this;
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}
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/** Scale by a 1/scalar.
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*/
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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(double a) { data[0] = data[1] = data[2] = a; }
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void InitMatrix(double a, double b, 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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*/
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double Magnitude(void) const;
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/** Normialze.
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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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*/
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FGColumnVector3& Normalize(void);
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// ??? Is this something sensible ??
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FGColumnVector3 multElementWise(const FGColumnVector3& V) const;
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// little trick here.
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struct AssignRef {
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AssignRef(FGColumnVector3& r, int i) : Ref(r), idx(i) {}
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AssignRef operator<<(const double ff) {
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Ref.Entry(idx) = ff;
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return AssignRef(Ref, idx+1);
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}
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FGColumnVector3& Ref;
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int idx;
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};
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AssignRef operator<<(const double ff) {
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Entry(1) = ff;
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return AssignRef(*this, 2);
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}
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private:
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double data[3];
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void Debug(int from);
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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.
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*/
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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 M Matrix to write.
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Write the matrix to a stream.
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*/
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ostream& operator<<(ostream& os, const FGColumnVector3& col);
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} // namespace JSBSim
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//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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#endif
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