DCM Code ported from Arduino for FRDM-KL25Z
Dependents: minimu_data_capture minimu_data_capture
Fork of DCM_AHRS by
Matrix.cpp
- Committer:
- krmreynolds
- Date:
- 2012-04-12
- Revision:
- 0:dc35364e2291
- Child:
- 1:3272ece36ce1
File content as of revision 0:dc35364e2291:
/* 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]; } } }