File content as of revision 0:dc35364e2291:

/* mbed L3G4200D Library version 0.1
 * Copyright (c) 2012 Prediluted
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 * THE SOFTWARE.
 */
 
//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];
        }
    }
}