A Team / DCM_AHRS

DCM Code ported from Arduino for FRDM-KL25Z

Dependents:   minimu_data_capture minimu_data_capture

Fork of DCM_AHRS by Kris Reynolds

Matrix.cpp@2:85214374e094, 2015-01-20 (annotated)

Committer:
ogarai
Date:
Tue Jan 20 02:04:07 2015 +0000
Revision:
2:85214374e094
Parent:
1:3272ece36ce1 
First Commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
krmreynolds 1:3272ece36ce1 1
krmreynolds 1:3272ece36ce1 2 //Computes the dot product of two vectors
krmreynolds 1:3272ece36ce1 3 float vector_dot_product(float vector1[3],float vector2[3]) {
krmreynolds 1:3272ece36ce1 4 float op=0;
krmreynolds 1:3272ece36ce1 5
krmreynolds 1:3272ece36ce1 6 for (int c=0; c<3; c++) {
krmreynolds 1:3272ece36ce1 7 op+=vector1[c]*vector2[c];
krmreynolds 1:3272ece36ce1 8 }
krmreynolds 1:3272ece36ce1 9
krmreynolds 1:3272ece36ce1 10 return op;
krmreynolds 1:3272ece36ce1 11 }
krmreynolds 1:3272ece36ce1 12
krmreynolds 1:3272ece36ce1 13 //Computes the cross product of two vectors
krmreynolds 1:3272ece36ce1 14 void vector_cross_product(float vectorOut[3], float v1[3],float v2[3]) {
krmreynolds 1:3272ece36ce1 15 vectorOut[0]= (v1[1]*v2[2]) - (v1[2]*v2[1]);
krmreynolds 1:3272ece36ce1 16 vectorOut[1]= (v1[2]*v2[0]) - (v1[0]*v2[2]);
krmreynolds 1:3272ece36ce1 17 vectorOut[2]= (v1[0]*v2[1]) - (v1[1]*v2[0]);
krmreynolds 1:3272ece36ce1 18 }
krmreynolds 1:3272ece36ce1 19
krmreynolds 1:3272ece36ce1 20 //Multiply the vector by a scalar.
krmreynolds 1:3272ece36ce1 21 void vector_scale(float vectorOut[3],float vectorIn[3], float scale2) {
krmreynolds 1:3272ece36ce1 22 for (int c=0; c<3; c++) {
krmreynolds 1:3272ece36ce1 23 vectorOut[c]=vectorIn[c]*scale2;
krmreynolds 1:3272ece36ce1 24 }
krmreynolds 1:3272ece36ce1 25 }
krmreynolds 1:3272ece36ce1 26
krmreynolds 1:3272ece36ce1 27 void vector_add(float vectorOut[3],float vectorIn1[3], float vectorIn2[3]) {
krmreynolds 1:3272ece36ce1 28 for (int c=0; c<3; c++) {
krmreynolds 1:3272ece36ce1 29 vectorOut[c]=vectorIn1[c]+vectorIn2[c];
krmreynolds 1:3272ece36ce1 30 }
krmreynolds 1:3272ece36ce1 31 }
krmreynolds 1:3272ece36ce1 32
krmreynolds 1:3272ece36ce1 33 //Multiply two 3x3 matrixs. This function developed by Jordi can be easily adapted to multiple n*n matrix's. (Pero me da flojera!).
krmreynolds 1:3272ece36ce1 34 void matrix_multiply(float a[3][3], float b[3][3],float mat[3][3]) {
krmreynolds 1:3272ece36ce1 35 float op[3];
krmreynolds 1:3272ece36ce1 36 for (int x=0; x<3; x++) {
krmreynolds 1:3272ece36ce1 37 for (int y=0; y<3; y++) {
krmreynolds 1:3272ece36ce1 38 for (int w=0; w<3; w++) {
krmreynolds 1:3272ece36ce1 39 op[w]=a[x][w]*b[w][y];
krmreynolds 1:3272ece36ce1 40 }
krmreynolds 1:3272ece36ce1 41 mat[x][y]=0;
krmreynolds 1:3272ece36ce1 42 mat[x][y]=op[0]+op[1]+op[2];
krmreynolds 1:3272ece36ce1 43
krmreynolds 1:3272ece36ce1 44 //float test=mat[x][y];
krmreynolds 1:3272ece36ce1 45 }
krmreynolds 1:3272ece36ce1 46 }
krmreynolds 0:dc35364e2291 47 }