FlightGear: JSBSim::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.

	FGMatrix33 (const FGMatrix33 &M)
	Copy constructor.

	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.

	~FGMatrix33 (void)
	Destructor.

std::string	Dump (const std::string &delimeter) const
	Prints the contents of the matrix.

std::string	Dump (const std::string &delimiter, const std::string &prefix) const
	Prints the contents of the matrix.

double	operator() (unsigned int row, unsigned int col) const
	Read access the entries of the matrix.

double &	operator() (unsigned int row, unsigned int col)
	Write access the entries of the matrix.

double	Entry (unsigned int row, unsigned int col) const
	Read access the entries of the matrix.

double &	Entry (unsigned int row, unsigned int col)
	Write access the entries of the matrix.

unsigned int	Rows (void) const
	Number of rows in the matrix.

unsigned int	Cols (void) const
	Number of cloumns in the matrix.

FGMatrix33	Transposed (void) const
	Transposed matrix.

void	T (void)
	Transposes this matrix.

void	InitMatrix (void)
	Initialize the matrix.

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.

FGQuaternion	GetQuaternion (void) const
	Returns the quaternion associated with this direction cosine (rotation) matrix.

FGColumnVector3	GetEuler () const
	Returns the Euler angle column vector associated with this matrix.

double	Determinant (void) const
	Determinant of the matrix.

bool	Invertible (void) const
	Return if the matrix is invertible.

FGMatrix33	Inverse (void) const
	Return the inverse of the matrix.

FGMatrix33 &	operator= (const FGMatrix33 &A)
	Assignment operator.

FGMatrix33 &	operator= (std::initializer_list< double > lv)
	Assignment operator.

FGColumnVector3	operator* (const FGColumnVector3 &v) const
	Matrix vector multiplication.

FGMatrix33	operator- (const FGMatrix33 &B) const
	Matrix subtraction.

FGMatrix33	operator+ (const FGMatrix33 &B) const
	Matrix addition.

FGMatrix33	operator* (const FGMatrix33 &B) const
	Matrix product.

FGMatrix33	operator* (const double scalar) const
	Multiply the matrix with a scalar.

FGMatrix33	operator/ (const double scalar) const
	Multiply the matrix with 1.0/scalar.

FGMatrix33 &	operator-= (const FGMatrix33 &B)
	In place matrix subtraction.

FGMatrix33 &	operator+= (const FGMatrix33 &B)
	In place matrix addition.

FGMatrix33 &	operator*= (const FGMatrix33 &B)
	In place matrix multiplication.

FGMatrix33 &	operator*= (const double scalar)
	In place matrix scale.

FGMatrix33 &	operator/= (const double scalar)
	In place matrix scale.

Detailed Description

Handles matrix math operations.

Author: Tony Peden, Jon Berndt, Mathias Froelich

Definition at line 69 of file FGMatrix33.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum

Enumerator
eRows
eColumns

Definition at line 73 of file FGMatrix33.h.

Constructor & Destructor Documentation

◆ FGMatrix33() [1/3]

JSBSim::FGMatrix33::FGMatrix33 ( void )

Default initializer.

Create a zero matrix.

Definition at line 58 of file FGMatrix33.cpp.

◆ FGMatrix33() [2/3]

JSBSim::FGMatrix33::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 90 of file FGMatrix33.h.

◆ FGMatrix33() [3/3]

JSBSim::FGMatrix33::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 117 of file FGMatrix33.h.

◆ ~FGMatrix33()

JSBSim::FGMatrix33::~FGMatrix33 ( void )

inline

Destructor.

Definition at line 134 of file FGMatrix33.h.

Member Function Documentation

◆ Cols()

unsigned int JSBSim::FGMatrix33::Cols ( void ) const

inline

Number of cloumns in the matrix.

Returns: the number of columns in the matrix.

Definition at line 214 of file FGMatrix33.h.

◆ Determinant()

double JSBSim::FGMatrix33::Determinant ( void ) const

Determinant of the matrix.

Returns: the determinant of the matrix.

Definition at line 221 of file FGMatrix33.cpp.

◆ Dump() [1/2]

std::string JSBSim::FGMatrix33::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

◆ Dump() [2/2]

std::string JSBSim::FGMatrix33::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

◆ Entry() [1/2]

double & JSBSim::FGMatrix33::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 202 of file FGMatrix33.h.

◆ Entry() [2/2]

double JSBSim::FGMatrix33::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 185 of file FGMatrix33.h.

◆ GetEuler()

FGColumnVector3 JSBSim::FGMatrix33::GetEuler ( void ) const

Returns the Euler angle column vector associated with this matrix.

Definition at line 159 of file FGMatrix33.cpp.

◆ GetQuaternion()

FGQuaternion JSBSim::FGMatrix33::GetQuaternion ( void ) const

Returns the quaternion associated with this direction cosine (rotation) matrix.

Definition at line 106 of file FGMatrix33.cpp.

◆ InitMatrix() [1/2]

void JSBSim::FGMatrix33::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 240 of file FGMatrix33.h.

◆ InitMatrix() [2/2]

void JSBSim::FGMatrix33::InitMatrix ( void )

Initialize the matrix.

This function initializes a matrix to all 0.0.

Definition at line 259 of file FGMatrix33.cpp.

◆ Inverse()

FGMatrix33 JSBSim::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 229 of file FGMatrix33.cpp.

◆ Invertible()

bool JSBSim::FGMatrix33::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 275 of file FGMatrix33.h.

◆ operator()() [1/2]

double & JSBSim::FGMatrix33::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 168 of file FGMatrix33.h.

◆ operator()() [2/2]

double JSBSim::FGMatrix33::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 155 of file FGMatrix33.h.

◆ operator*() [1/3]

FGMatrix33 JSBSim::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 333 of file FGMatrix33.cpp.

◆ operator*() [2/3]

FGColumnVector3 JSBSim::FGMatrix33::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 481 of file FGMatrix33.cpp.

◆ operator*() [3/3]

FGMatrix33 JSBSim::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 380 of file FGMatrix33.cpp.

◆ operator*=() [1/2]

FGMatrix33 & JSBSim::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 363 of file FGMatrix33.cpp.

◆ operator*=() [2/2]

FGMatrix33 & JSBSim::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 399 of file FGMatrix33.cpp.

◆ operator+()

FGMatrix33 JSBSim::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 301 of file FGMatrix33.cpp.

◆ operator+=()

FGMatrix33 & JSBSim::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 316 of file FGMatrix33.cpp.

◆ operator-()

FGMatrix33 JSBSim::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 269 of file FGMatrix33.cpp.

◆ operator-=()

FGMatrix33 & JSBSim::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 284 of file FGMatrix33.cpp.

◆ operator/()

FGMatrix33 JSBSim::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 424 of file FGMatrix33.cpp.

◆ operator/=()

FGMatrix33 & JSBSim::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 444 of file FGMatrix33.cpp.

◆ operator=() [1/2]

FGMatrix33 & JSBSim::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 291 of file FGMatrix33.h.

◆ operator=() [2/2]

FGMatrix33 & JSBSim::FGMatrix33::operator= ( std::initializer_list< double > lv )

inline

Assignment operator.

Parameters

lv	initializer list of at most 9 values.

Copy the content of the list into *this.

Definition at line 310 of file FGMatrix33.h.

◆ Rows()

unsigned int JSBSim::FGMatrix33::Rows ( void ) const

inline

Number of rows in the matrix.

Returns: the number of rows in the matrix.

Definition at line 209 of file FGMatrix33.h.

◆ T()

void JSBSim::FGMatrix33::T ( void )

Transposes this matrix.

This function only transposes this matrix. Nothing is returned.

Definition at line 462 of file FGMatrix33.cpp.

◆ Transposed()

FGMatrix33 JSBSim::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 221 of file FGMatrix33.h.

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

Public Types

Public Member Functions

Detailed Description

Member Enumeration Documentation

◆ anonymous enum

Constructor & Destructor Documentation

◆ FGMatrix33() [1/3]

◆ FGMatrix33() [2/3]

◆ FGMatrix33() [3/3]

◆ ~FGMatrix33()

Member Function Documentation

◆ Cols()

◆ Determinant()

◆ Dump() [1/2]

◆ Dump() [2/2]

◆ Entry() [1/2]

◆ Entry() [2/2]

◆ GetEuler()

◆ GetQuaternion()

◆ InitMatrix() [1/2]

◆ InitMatrix() [2/2]

◆ Inverse()

◆ Invertible()

◆ operator()() [1/2]

◆ operator()() [2/2]

◆ operator*() [1/3]

◆ operator*() [2/3]

◆ operator*() [3/3]

◆ operator*=() [1/2]

◆ operator*=() [2/2]

◆ operator+()

◆ operator+=()

◆ operator-()

◆ operator-=()

◆ operator/()

◆ operator/=()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ Rows()

◆ T()

◆ Transposed()