Diff: Matrix.cpp

Revision:

1:3272ece36ce1

Parent:

0:dc35364e2291

--- a/Matrix.cpp	Thu Apr 12 13:47:23 2012 +0000
+++ b/Matrix.cpp	Mon Apr 23 14:31:08 2012 +0000
@@ -1,66 +1,47 @@
-/* mbed L3G4200D Library version 0.1
- * Copyright (c) 2012 Prediluted
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy
- * of this software and associated documentation files (the "Software"), to deal
- * in the Software without restriction, including without limitation the rights
- * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
- * copies of the Software, and to permit persons to whom the Software is
- * furnished to do so, subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in
- * all copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
- * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
- * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
- * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
- * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
- * THE SOFTWARE.
- */
- 
-//Computes the dot product of two vectors
-float Vector_Dot_Product(float vector1[3],float vector2[3]) {
-    float op=0;
-
-    for (int c=0; c<3; c++) {
-        op+=vector1[c]*vector2[c];
-    }
-
-    return op;
-}
-
-//Computes the cross product of two vectors
-void Vector_Cross_Product(float vectorOut[3], float v1[3],float v2[3]) {
-    vectorOut[0]= (v1[1]*v2[2]) - (v1[2]*v2[1]);
-    vectorOut[1]= (v1[2]*v2[0]) - (v1[0]*v2[2]);
-    vectorOut[2]= (v1[0]*v2[1]) - (v1[1]*v2[0]);
-}
-
-//Multiply the vector by a scalar.
-void Vector_Scale(float vectorOut[3],float vectorIn[3], float scale2) {
-    for (int c=0; c<3; c++) {
-        vectorOut[c]=vectorIn[c]*scale2;
-    }
-}
-
-void Vector_Add(float vectorOut[3],float vectorIn1[3], float vectorIn2[3]) {
-    for (int c=0; c<3; c++) {
-        vectorOut[c]=vectorIn1[c]+vectorIn2[c];
-    }
-}
-
-//Multiply two 3x3 matrixs. This function developed by Jordi can be easily adapted to multiple n*n matrix's. (Pero me da flojera!).
-void Matrix_Multiply(float a[3][3], float b[3][3],float mat[3][3]) {
-    float op[3];
-    for (int x=0; x<3; x++) {
-        for (int y=0; y<3; y++) {
-            for (int w=0; w<3; w++) {
-                op[w]=a[x][w]*b[w][y];
-            }
-            mat[x][y]=0;
-            mat[x][y]=op[0]+op[1]+op[2];
-        }
-    }
+
+//Computes the dot product of two vectors
+float vector_dot_product(float vector1[3],float vector2[3]) {
+    float op=0;
+
+    for (int c=0; c<3; c++) {
+        op+=vector1[c]*vector2[c];
+    }
+
+    return op;
+}
+
+//Computes the cross product of two vectors
+void vector_cross_product(float vectorOut[3], float v1[3],float v2[3]) {
+    vectorOut[0]= (v1[1]*v2[2]) - (v1[2]*v2[1]);
+    vectorOut[1]= (v1[2]*v2[0]) - (v1[0]*v2[2]);
+    vectorOut[2]= (v1[0]*v2[1]) - (v1[1]*v2[0]);
+}
+
+//Multiply the vector by a scalar.
+void vector_scale(float vectorOut[3],float vectorIn[3], float scale2) {
+    for (int c=0; c<3; c++) {
+        vectorOut[c]=vectorIn[c]*scale2;
+    }
+}
+
+void vector_add(float vectorOut[3],float vectorIn1[3], float vectorIn2[3]) {
+    for (int c=0; c<3; c++) {
+        vectorOut[c]=vectorIn1[c]+vectorIn2[c];
+    }
+}
+
+//Multiply two 3x3 matrixs. This function developed by Jordi can be easily adapted to multiple n*n matrix's. (Pero me da flojera!).
+void matrix_multiply(float a[3][3], float b[3][3],float mat[3][3]) {
+    float op[3];
+    for (int x=0; x<3; x++) {
+        for (int y=0; y<3; y++) {
+            for (int w=0; w<3; w++) {
+                op[w]=a[x][w]*b[w][y];
+            }
+            mat[x][y]=0;
+            mat[x][y]=op[0]+op[1]+op[2];
+
+            //float test=mat[x][y];
+        }
+    }
 }
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