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@0:dc35364e2291, 2012-04-12 (annotated)

Committer:
krmreynolds
Date:
Thu Apr 12 13:47:23 2012 +0000
Revision:
0:dc35364e2291
Child:
1:3272ece36ce1
Added GNU Agreement

Who changed what in which revision?

UserRevisionLine numberNew contents of line
krmreynolds 0:dc35364e2291 1 /* mbed L3G4200D Library version 0.1
krmreynolds 0:dc35364e2291 2 * Copyright (c) 2012 Prediluted
krmreynolds 0:dc35364e2291 3 *
krmreynolds 0:dc35364e2291 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
krmreynolds 0:dc35364e2291 5 * of this software and associated documentation files (the "Software"), to deal
krmreynolds 0:dc35364e2291 6 * in the Software without restriction, including without limitation the rights
krmreynolds 0:dc35364e2291 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
krmreynolds 0:dc35364e2291 8 * copies of the Software, and to permit persons to whom the Software is
krmreynolds 0:dc35364e2291 9 * furnished to do so, subject to the following conditions:
krmreynolds 0:dc35364e2291 10 *
krmreynolds 0:dc35364e2291 11 * The above copyright notice and this permission notice shall be included in
krmreynolds 0:dc35364e2291 12 * all copies or substantial portions of the Software.
krmreynolds 0:dc35364e2291 13 *
krmreynolds 0:dc35364e2291 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
krmreynolds 0:dc35364e2291 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
krmreynolds 0:dc35364e2291 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
krmreynolds 0:dc35364e2291 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
krmreynolds 0:dc35364e2291 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
krmreynolds 0:dc35364e2291 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
krmreynolds 0:dc35364e2291 20 * THE SOFTWARE.
krmreynolds 0:dc35364e2291 21 */
krmreynolds 0:dc35364e2291 22
krmreynolds 0:dc35364e2291 23 //Computes the dot product of two vectors
krmreynolds 0:dc35364e2291 24 float Vector_Dot_Product(float vector1[3],float vector2[3]) {
krmreynolds 0:dc35364e2291 25 float op=0;
krmreynolds 0:dc35364e2291 26
krmreynolds 0:dc35364e2291 27 for (int c=0; c<3; c++) {
krmreynolds 0:dc35364e2291 28 op+=vector1[c]*vector2[c];
krmreynolds 0:dc35364e2291 29 }
krmreynolds 0:dc35364e2291 30
krmreynolds 0:dc35364e2291 31 return op;
krmreynolds 0:dc35364e2291 32 }
krmreynolds 0:dc35364e2291 33
krmreynolds 0:dc35364e2291 34 //Computes the cross product of two vectors
krmreynolds 0:dc35364e2291 35 void Vector_Cross_Product(float vectorOut[3], float v1[3],float v2[3]) {
krmreynolds 0:dc35364e2291 36 vectorOut[0]= (v1[1]*v2[2]) - (v1[2]*v2[1]);
krmreynolds 0:dc35364e2291 37 vectorOut[1]= (v1[2]*v2[0]) - (v1[0]*v2[2]);
krmreynolds 0:dc35364e2291 38 vectorOut[2]= (v1[0]*v2[1]) - (v1[1]*v2[0]);
krmreynolds 0:dc35364e2291 39 }
krmreynolds 0:dc35364e2291 40
krmreynolds 0:dc35364e2291 41 //Multiply the vector by a scalar.
krmreynolds 0:dc35364e2291 42 void Vector_Scale(float vectorOut[3],float vectorIn[3], float scale2) {
krmreynolds 0:dc35364e2291 43 for (int c=0; c<3; c++) {
krmreynolds 0:dc35364e2291 44 vectorOut[c]=vectorIn[c]*scale2;
krmreynolds 0:dc35364e2291 45 }
krmreynolds 0:dc35364e2291 46 }
krmreynolds 0:dc35364e2291 47
krmreynolds 0:dc35364e2291 48 void Vector_Add(float vectorOut[3],float vectorIn1[3], float vectorIn2[3]) {
krmreynolds 0:dc35364e2291 49 for (int c=0; c<3; c++) {
krmreynolds 0:dc35364e2291 50 vectorOut[c]=vectorIn1[c]+vectorIn2[c];
krmreynolds 0:dc35364e2291 51 }
krmreynolds 0:dc35364e2291 52 }
krmreynolds 0:dc35364e2291 53
krmreynolds 0:dc35364e2291 54 //Multiply two 3x3 matrixs. This function developed by Jordi can be easily adapted to multiple n*n matrix's. (Pero me da flojera!).
krmreynolds 0:dc35364e2291 55 void Matrix_Multiply(float a[3][3], float b[3][3],float mat[3][3]) {
krmreynolds 0:dc35364e2291 56 float op[3];
krmreynolds 0:dc35364e2291 57 for (int x=0; x<3; x++) {
krmreynolds 0:dc35364e2291 58 for (int y=0; y<3; y++) {
krmreynolds 0:dc35364e2291 59 for (int w=0; w<3; w++) {
krmreynolds 0:dc35364e2291 60 op[w]=a[x][w]*b[w][y];
krmreynolds 0:dc35364e2291 61 }
krmreynolds 0:dc35364e2291 62 mat[x][y]=0;
krmreynolds 0:dc35364e2291 63 mat[x][y]=op[0]+op[1]+op[2];
krmreynolds 0:dc35364e2291 64 }
krmreynolds 0:dc35364e2291 65 }
krmreynolds 0:dc35364e2291 66 }