Diff: Matrix.cpp

Revision:

0:dc35364e2291

Child:

1:3272ece36ce1

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Matrix.cpp	Thu Apr 12 13:47:23 2012 +0000
@@ -0,0 +1,66 @@
+/* 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];
+        }
+    }
+}
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