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
Vector3.h
- Committer:
- pvaibhav
- Date:
- 2015-03-12
- Revision:
- 2:26ba41c58962
- Parent:
- 1:857642c51139
- Child:
- 3:c0137be74db4
File content as of revision 2:26ba41c58962:
#ifndef __AHRSMATHDSP_VECTOR3_ #define __AHRSMATHDSP_VECTOR3_ //#include "arm_math.h" class Vector3 { public: Vector3(){ x = y = z = 0; } Vector3(float x, float y, float z){ this->x = x; this->y = y; this->z = z; } void set(float x, float y, float z){ this->x = x; this->y = y; this->z = z; } float length_squared() const{ return x*x + y*y + z*z; } float length() const{ return sqrt(length_squared()); } void normalise(){ float len = length(); x = x/len; y = y/len; z = z/len; } Vector3 normalised() { return Vector3(x, y, z) / length(); } float dot_product(const Vector3 &v) const{ return x*v.x + y*v.y + z*v.z; } Vector3 cross_product(const Vector3 &v) const{ Vector3 temp(y*v.z - z*v.y, z*v.x - x*v.z, x*v.y - y*v.x); return temp; } //operator overides void operator ()(const float x, const float y, const float z) { this->x = x; this->y = y; this->z = z; } bool operator == (const Vector3 &v) const { return (x==v.x && y==v.y && z==v.z); } bool operator != (const Vector3 &v) const { return (x!=v.x || y!=v.y || z!=v.z); } const Vector3 &operator = (const Vector3 &v) { x = v.x; y = v.y; z = v.z; return *this; } const Vector3 operator - (void) const { return Vector3(-x,-y,-z); } const Vector3 operator + (const Vector3 &v) const { return Vector3(x+v.x, y+v.y, z+v.z); } const Vector3 operator - (const Vector3 &v) const { return Vector3(x-v.x, y-v.y, z-v.z); } const Vector3 operator * (const float num) const { Vector3 temp; temp.x = x * num; temp.y = y * num; temp.z = z * num; return temp; } const Vector3 operator / (const float num) const { Vector3 temp; temp.x = x / num; temp.y = y / num; temp.z = z / num; return temp; } float operator * (const Vector3 &v) const { return x*v.x + y*v.y + z*v.z; } float x, y, z; }; #endif