Revision 7:b22d56ac37aa, committed 2021-08-10

Comitter:

NaotoMorita

Date:

Tue Aug 10 08:08:11 2021 +0000

Parent:

6:aa5e94cddb3f

Commit message:

add Vector3;

Changed in this revision

diff -r aa5e94cddb3f -r b22d56ac37aa MatrixMath.cpp
--- a/MatrixMath.cpp	Thu Sep 17 17:51:22 2020 +0700
+++ b/MatrixMath.cpp	Tue Aug 10 08:08:11 2021 +0000
@@ -24,6 +24,26 @@
     return result;
 }
 
+///Transpose matrix
+Matrix MatrixMath::Matrixcross(const float px, const float py, const float pz)
+{
+    Matrix result(3,3); //Transpose Matrix
+    result(1,2) = -pz;
+    result(1,3) =  py;
+    result(2,1) =  pz;
+    result(2,3) = -px;
+    result(3,1) = -py;
+    result(3,2) =  px;
+    return result;
+}
+Matrix MatrixMath::Vector2mat(const Vector3 vec)
+{
+    Matrix result(3,1); //Transpose Matrix
+    result(1,1) = vec.x;
+    result(2,1) = vec.y;
+    result(3,1) = vec.z;
+    return result;
+}
 Matrix MatrixMath::Inv(const Matrix &Mat)
 {
     if (Mat._nRows == Mat._nCols)

diff -r aa5e94cddb3f -r b22d56ac37aa MatrixMath.h
--- a/MatrixMath.h	Thu Sep 17 17:51:22 2020 +0700
+++ b/MatrixMath.h	Tue Aug 10 08:08:11 2021 +0000
@@ -15,7 +15,7 @@
 
 #include "mbed.h"
 #include "Matrix.h"
-
+#include "Vector3.hpp"
 
 /**
  * @brief This class provides STATIC methods to perform operations 
@@ -39,6 +39,17 @@
      * @param Mat matrix to calcute inverse.
      * @return Matrix Inverse
      */
+     
+    static Matrix Matrixcross(const float px, const float py, const float pz);
+    /**@brief
+     * 外積を計算するためのMatrixを計算する
+     */
+    
+    static Matrix Vector2mat(const Vector3 vec);
+    /**@brief
+     * 外積を計算するためのMatrixを計算する
+     */
+    
     static Matrix Inv( const Matrix& Mat );