Hassan Elahi / LSM303D

reading from 6 sensors and packaging the data

Dependents:   LSM303D_SPI

vector.cpp

Committer:
DrCoyle
Date:
2014-08-26
Revision:
0:f186dd92c836

File content as of revision 0:f186dd92c836:

#include <vector.h>
#include <math.h>
 
void vector_cross(const vector *a,const vector *b, vector *out)
{
  out->x = a->y*b->z - a->z*b->y;
  out->y = a->z*b->x - a->x*b->z;
  out->z = a->x*b->y - a->y*b->x;
}
 
float vector_dot(const vector *a,const vector *b)
{
  return a->x*b->x+a->y*b->y+a->z*b->z;
}
 
void vector_normalize(vector *a)
{
  float mag = sqrt(vector_dot(a,a));
  a->x /= mag;
  a->y /= mag;
  a->z /= mag;
}