TobyRich GmbH / QuaternionMath

A quick implementation of Quaternion and Vector classes for use with my MPU9150 library

Dependents:   cool_step_new cool_step_1 SML2

Fork of QuaternionMath by Chris Pepper

Vector3.h@2:26ba41c58962, 2015-03-12 (annotated)

Committer:
pvaibhav
Date:
Thu Mar 12 10:14:52 2015 +0000
Revision:
2:26ba41c58962
Parent:
1:857642c51139
Child:
3:c0137be74db4
Added .normalised() method to Vector3 to return normalised vector without modifying original vector.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
p3p 0:3cc1a808d8c6 1 #ifndef __AHRSMATHDSP_VECTOR3_
p3p 0:3cc1a808d8c6 2 #define __AHRSMATHDSP_VECTOR3_
p3p 0:3cc1a808d8c6 3
pvaibhav 1:857642c51139 4 //#include "arm_math.h"
p3p 0:3cc1a808d8c6 5
p3p 0:3cc1a808d8c6 6 class Vector3 {
p3p 0:3cc1a808d8c6 7 public:
p3p 0:3cc1a808d8c6 8 Vector3(){
p3p 0:3cc1a808d8c6 9 x = y = z = 0;
p3p 0:3cc1a808d8c6 10 }
p3p 0:3cc1a808d8c6 11
p3p 0:3cc1a808d8c6 12 Vector3(float x, float y, float z){
p3p 0:3cc1a808d8c6 13 this->x = x;
p3p 0:3cc1a808d8c6 14 this->y = y;
p3p 0:3cc1a808d8c6 15 this->z = z;
p3p 0:3cc1a808d8c6 16 }
p3p 0:3cc1a808d8c6 17
p3p 0:3cc1a808d8c6 18 void set(float x, float y, float z){
p3p 0:3cc1a808d8c6 19 this->x = x;
p3p 0:3cc1a808d8c6 20 this->y = y;
p3p 0:3cc1a808d8c6 21 this->z = z;
p3p 0:3cc1a808d8c6 22 }
p3p 0:3cc1a808d8c6 23
pvaibhav 1:857642c51139 24 float length_squared() const{
p3p 0:3cc1a808d8c6 25 return x*x + y*y + z*z;
p3p 0:3cc1a808d8c6 26 }
p3p 0:3cc1a808d8c6 27
pvaibhav 1:857642c51139 28 float length() const{
p3p 0:3cc1a808d8c6 29 return sqrt(length_squared());
p3p 0:3cc1a808d8c6 30 }
p3p 0:3cc1a808d8c6 31
p3p 0:3cc1a808d8c6 32 void normalise(){
p3p 0:3cc1a808d8c6 33 float len = length();
p3p 0:3cc1a808d8c6 34 x = x/len;
p3p 0:3cc1a808d8c6 35 y = y/len;
p3p 0:3cc1a808d8c6 36 z = z/len;
p3p 0:3cc1a808d8c6 37 }
p3p 0:3cc1a808d8c6 38
pvaibhav 2:26ba41c58962 39 Vector3 normalised() {
pvaibhav 2:26ba41c58962 40 return Vector3(x, y, z) / length();
pvaibhav 2:26ba41c58962 41 }
pvaibhav 2:26ba41c58962 42
pvaibhav 1:857642c51139 43 float dot_product(const Vector3 &v) const{
p3p 0:3cc1a808d8c6 44 return x*v.x + y*v.y + z*v.z;
p3p 0:3cc1a808d8c6 45 }
p3p 0:3cc1a808d8c6 46
pvaibhav 1:857642c51139 47 Vector3 cross_product(const Vector3 &v) const{
p3p 0:3cc1a808d8c6 48 Vector3 temp(y*v.z - z*v.y, z*v.x - x*v.z, x*v.y - y*v.x);
p3p 0:3cc1a808d8c6 49 return temp;
p3p 0:3cc1a808d8c6 50 }
p3p 0:3cc1a808d8c6 51
p3p 0:3cc1a808d8c6 52 //operator overides
p3p 0:3cc1a808d8c6 53 void operator ()(const float x, const float y, const float z) {
p3p 0:3cc1a808d8c6 54 this->x = x;
p3p 0:3cc1a808d8c6 55 this->y = y;
p3p 0:3cc1a808d8c6 56 this->z = z;
p3p 0:3cc1a808d8c6 57 }
p3p 0:3cc1a808d8c6 58
pvaibhav 1:857642c51139 59 bool operator == (const Vector3 &v) const {
p3p 0:3cc1a808d8c6 60 return (x==v.x && y==v.y && z==v.z);
p3p 0:3cc1a808d8c6 61 }
p3p 0:3cc1a808d8c6 62
pvaibhav 1:857642c51139 63 bool operator != (const Vector3 &v) const {
p3p 0:3cc1a808d8c6 64 return (x!=v.x || y!=v.y || z!=v.z);
p3p 0:3cc1a808d8c6 65 }
p3p 0:3cc1a808d8c6 66
p3p 0:3cc1a808d8c6 67 const Vector3 &operator = (const Vector3 &v) {
p3p 0:3cc1a808d8c6 68 x = v.x;
p3p 0:3cc1a808d8c6 69 y = v.y;
p3p 0:3cc1a808d8c6 70 z = v.z;
p3p 0:3cc1a808d8c6 71 return *this;
p3p 0:3cc1a808d8c6 72 }
p3p 0:3cc1a808d8c6 73
p3p 0:3cc1a808d8c6 74 const Vector3 operator - (void) const {
p3p 0:3cc1a808d8c6 75 return Vector3(-x,-y,-z);
p3p 0:3cc1a808d8c6 76 }
p3p 0:3cc1a808d8c6 77
p3p 0:3cc1a808d8c6 78 const Vector3 operator + (const Vector3 &v) const {
p3p 0:3cc1a808d8c6 79 return Vector3(x+v.x, y+v.y, z+v.z);
p3p 0:3cc1a808d8c6 80 }
p3p 0:3cc1a808d8c6 81
p3p 0:3cc1a808d8c6 82 const Vector3 operator - (const Vector3 &v) const {
p3p 0:3cc1a808d8c6 83 return Vector3(x-v.x, y-v.y, z-v.z);
p3p 0:3cc1a808d8c6 84 }
p3p 0:3cc1a808d8c6 85
p3p 0:3cc1a808d8c6 86 const Vector3 operator * (const float num) const {
p3p 0:3cc1a808d8c6 87 Vector3 temp;
p3p 0:3cc1a808d8c6 88 temp.x = x * num;
p3p 0:3cc1a808d8c6 89 temp.y = y * num;
p3p 0:3cc1a808d8c6 90 temp.z = z * num;
p3p 0:3cc1a808d8c6 91 return temp;
p3p 0:3cc1a808d8c6 92 }
p3p 0:3cc1a808d8c6 93
p3p 0:3cc1a808d8c6 94 const Vector3 operator / (const float num) const {
p3p 0:3cc1a808d8c6 95 Vector3 temp;
p3p 0:3cc1a808d8c6 96 temp.x = x / num;
p3p 0:3cc1a808d8c6 97 temp.y = y / num;
p3p 0:3cc1a808d8c6 98 temp.z = z / num;
p3p 0:3cc1a808d8c6 99 return temp;
p3p 0:3cc1a808d8c6 100 }
p3p 0:3cc1a808d8c6 101
p3p 0:3cc1a808d8c6 102 float operator * (const Vector3 &v) const {
p3p 0:3cc1a808d8c6 103 return x*v.x + y*v.y + z*v.z;
p3p 0:3cc1a808d8c6 104 }
p3p 0:3cc1a808d8c6 105
p3p 0:3cc1a808d8c6 106 float x, y, z;
p3p 0:3cc1a808d8c6 107
p3p 0:3cc1a808d8c6 108 };
p3p 0:3cc1a808d8c6 109
p3p 0:3cc1a808d8c6 110 #endif