AHRS library for the Polulu minIMU-9 Ability to interface with the Polulu Python minIMU-9 monitor
Matrix.cpp
- Committer:
- krmreynolds
- Date:
- 2012-04-23
- Revision:
- 1:3272ece36ce1
- Parent:
- 0:dc35364e2291
File content as of revision 1:3272ece36ce1:
//Computes the dot product of two vectors float vector_dot_product(float vector1[3],float vector2[3]) { float op=0; for (int c=0; c<3; c++) { op+=vector1[c]*vector2[c]; } return op; } //Computes the cross product of two vectors void vector_cross_product(float vectorOut[3], float v1[3],float v2[3]) { vectorOut[0]= (v1[1]*v2[2]) - (v1[2]*v2[1]); vectorOut[1]= (v1[2]*v2[0]) - (v1[0]*v2[2]); vectorOut[2]= (v1[0]*v2[1]) - (v1[1]*v2[0]); } //Multiply the vector by a scalar. void vector_scale(float vectorOut[3],float vectorIn[3], float scale2) { for (int c=0; c<3; c++) { vectorOut[c]=vectorIn[c]*scale2; } } void vector_add(float vectorOut[3],float vectorIn1[3], float vectorIn2[3]) { for (int c=0; c<3; c++) { vectorOut[c]=vectorIn1[c]+vectorIn2[c]; } } //Multiply two 3x3 matrixs. This function developed by Jordi can be easily adapted to multiple n*n matrix's. (Pero me da flojera!). void matrix_multiply(float a[3][3], float b[3][3],float mat[3][3]) { float op[3]; for (int x=0; x<3; x++) { for (int y=0; y<3; y++) { for (int w=0; w<3; w++) { op[w]=a[x][w]*b[w][y]; } mat[x][y]=0; mat[x][y]=op[0]+op[1]+op[2]; //float test=mat[x][y]; } } }