Alex Chepilev / Mbed 2 deprecated WalkingRobot

1

Dependencies:   CircularBuffer Radio Servo Terminal mbed

Fork of WalkingRobot by Patrick Clary

Matrix.h@11:975d24305af7, 2013-04-09 (annotated)

Committer:
alex03
Date:
Tue Apr 09 01:40:27 2013 +0000
Revision:
11:975d24305af7
Parent:
5:475f67175510 
g

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pclary 3:6fa07ceb897f 1 #ifndef MATRIX_H
pclary 3:6fa07ceb897f 2 #define MATRIX_H
pclary 3:6fa07ceb897f 3
pclary 3:6fa07ceb897f 4
pclary 3:6fa07ceb897f 5
pclary 3:6fa07ceb897f 6 struct vector3
pclary 3:6fa07ceb897f 7 {
pclary 3:6fa07ceb897f 8 float x, y, z;
pclary 3:6fa07ceb897f 9 vector3() {}
pclary 3:6fa07ceb897f 10 vector3(float x1, float y1, float z1) { x = x1; y = y1; z = z1; }
pclary 5:475f67175510 11 vector3 operator+(const vector3& v) const;
pclary 5:475f67175510 12 vector3 operator-(const vector3& v) const;
pclary 5:475f67175510 13 vector3 operator*(const float f) const;
pclary 5:475f67175510 14 vector3 unit() const;
pclary 3:6fa07ceb897f 15 };
pclary 3:6fa07ceb897f 16
pclary 3:6fa07ceb897f 17
pclary 3:6fa07ceb897f 18
pclary 3:6fa07ceb897f 19 struct matrix4
pclary 3:6fa07ceb897f 20 {
pclary 3:6fa07ceb897f 21 float a11, a12, a13, a14;
pclary 3:6fa07ceb897f 22 float a21, a22, a23, a24;
pclary 3:6fa07ceb897f 23 float a31, a32, a33, a34;
pclary 3:6fa07ceb897f 24 // Bottom row is always 0, 0, 0, 1
pclary 3:6fa07ceb897f 25
pclary 3:6fa07ceb897f 26 matrix4();
pclary 3:6fa07ceb897f 27 matrix4& identity();
pclary 3:6fa07ceb897f 28 matrix4& translate(vector3 v);
pclary 3:6fa07ceb897f 29 matrix4& rotateX(float radians);
pclary 3:6fa07ceb897f 30 matrix4& rotateY(float radians);
pclary 3:6fa07ceb897f 31 matrix4& rotateZ(float radians);
pclary 3:6fa07ceb897f 32 matrix4 operator*(const matrix4& other) const;
pclary 3:6fa07ceb897f 33 vector3 operator*(const vector3& other) const;
pclary 3:6fa07ceb897f 34 matrix4 inverse() const;
pclary 3:6fa07ceb897f 35 };
pclary 3:6fa07ceb897f 36
pclary 3:6fa07ceb897f 37 #endif // MATRIX_H