Atsumi Toda
/
UAV_Logger1
UAVの姿勢推定に使用するプログラム。
Vector/Vector_Matrix_operator.cpp@2:e6496a794bde, 2019-05-24 (annotated)
- Committer:
- Joeatsumi
- Date:
- Fri May 24 05:57:12 2019 +0000
- Revision:
- 2:e6496a794bde
mpu6050 and GHC5883L for atitude estimation for UAV.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Joeatsumi | 2:e6496a794bde | 1 | #include "Vector_Matrix_operator.h" |
Joeatsumi | 2:e6496a794bde | 2 | |
Joeatsumi | 2:e6496a794bde | 3 | Vector operator*(const Matrix& lhm, const Vector& rhv) { |
Joeatsumi | 2:e6496a794bde | 4 | if (lhm.GetCol() != rhv.GetDim()) error("Irregular Dimention"); |
Joeatsumi | 2:e6496a794bde | 5 | Vector retVec(lhm.GetRow()); |
Joeatsumi | 2:e6496a794bde | 6 | |
Joeatsumi | 2:e6496a794bde | 7 | for (int i = 1; i <= lhm.GetRow(); i++) { |
Joeatsumi | 2:e6496a794bde | 8 | float temp = 0.0f; |
Joeatsumi | 2:e6496a794bde | 9 | for (int j = 1; j <= rhv.GetDim(); j++) { |
Joeatsumi | 2:e6496a794bde | 10 | temp += lhm.GetComp(i, j)*rhv.GetComp(j); |
Joeatsumi | 2:e6496a794bde | 11 | } |
Joeatsumi | 2:e6496a794bde | 12 | retVec.SetComp(i, temp); |
Joeatsumi | 2:e6496a794bde | 13 | } |
Joeatsumi | 2:e6496a794bde | 14 | |
Joeatsumi | 2:e6496a794bde | 15 | retVec.CleanUp(); |
Joeatsumi | 2:e6496a794bde | 16 | |
Joeatsumi | 2:e6496a794bde | 17 | return retVec; |
Joeatsumi | 2:e6496a794bde | 18 | } |
Joeatsumi | 2:e6496a794bde | 19 | |
Joeatsumi | 2:e6496a794bde | 20 | Vector operator*(const Vector& lhv, const Matrix& rhm) { |
Joeatsumi | 2:e6496a794bde | 21 | if (lhv.GetDim() != rhm.GetRow()) error("Irregular Dimention"); |
Joeatsumi | 2:e6496a794bde | 22 | Vector retVec(rhm.GetCol()); |
Joeatsumi | 2:e6496a794bde | 23 | |
Joeatsumi | 2:e6496a794bde | 24 | for (int i = 1; i <= rhm.GetCol(); i++) { |
Joeatsumi | 2:e6496a794bde | 25 | float temp = 0.0f; |
Joeatsumi | 2:e6496a794bde | 26 | for (int j = 1; j <= lhv.GetDim(); j++) { |
Joeatsumi | 2:e6496a794bde | 27 | temp += lhv.GetComp(j) * rhm.GetComp(j, i); |
Joeatsumi | 2:e6496a794bde | 28 | } |
Joeatsumi | 2:e6496a794bde | 29 | retVec.SetComp(i, temp); |
Joeatsumi | 2:e6496a794bde | 30 | } |
Joeatsumi | 2:e6496a794bde | 31 | |
Joeatsumi | 2:e6496a794bde | 32 | retVec.CleanUp(); |
Joeatsumi | 2:e6496a794bde | 33 | |
Joeatsumi | 2:e6496a794bde | 34 | return retVec; |
Joeatsumi | 2:e6496a794bde | 35 | } |