Chris Pepper / QuaternionMath

A quick implementation of Quaternion and Vector classes for use with my MPU9150 library

Dependents:   MPU9150_Example MPU9150_nucleo_noni2cdev CANSAT_COMBINED SolarOnFoils_MainModule_20150518 ... more

Vector3.h@0:3cc1a808d8c6, 2014-09-01 (annotated)

Committer:
p3p
Date:
Mon Sep 01 13:48:26 2014 +0000
Revision:
0:3cc1a808d8c6
quick Quaternion and Vector classes

Who changed what in which revision?

UserRevisionLine numberNew contents of line
p3p 0:3cc1a808d8c6 1 #ifndef __AHRSMATHDSP_VECTOR3_
p3p 0:3cc1a808d8c6 2 #define __AHRSMATHDSP_VECTOR3_
p3p 0:3cc1a808d8c6 3
p3p 0:3cc1a808d8c6 4 #include "arm_math.h"
p3p 0:3cc1a808d8c6 5
p3p 0:3cc1a808d8c6 6 class Vector3 {
p3p 0:3cc1a808d8c6 7 public:
p3p 0:3cc1a808d8c6 8 Vector3(){
p3p 0:3cc1a808d8c6 9 x = y = z = 0;
p3p 0:3cc1a808d8c6 10 }
p3p 0:3cc1a808d8c6 11
p3p 0:3cc1a808d8c6 12 Vector3(float x, float y, float z){
p3p 0:3cc1a808d8c6 13 this->x = x;
p3p 0:3cc1a808d8c6 14 this->y = y;
p3p 0:3cc1a808d8c6 15 this->z = z;
p3p 0:3cc1a808d8c6 16 }
p3p 0:3cc1a808d8c6 17
p3p 0:3cc1a808d8c6 18 void set(float x, float y, float z){
p3p 0:3cc1a808d8c6 19 this->x = x;
p3p 0:3cc1a808d8c6 20 this->y = y;
p3p 0:3cc1a808d8c6 21 this->z = z;
p3p 0:3cc1a808d8c6 22 }
p3p 0:3cc1a808d8c6 23
p3p 0:3cc1a808d8c6 24 float length_squared(){
p3p 0:3cc1a808d8c6 25 return x*x + y*y + z*z;
p3p 0:3cc1a808d8c6 26 }
p3p 0:3cc1a808d8c6 27
p3p 0:3cc1a808d8c6 28 float length(){
p3p 0:3cc1a808d8c6 29 return sqrt(length_squared());
p3p 0:3cc1a808d8c6 30 }
p3p 0:3cc1a808d8c6 31
p3p 0:3cc1a808d8c6 32 void normalise(){
p3p 0:3cc1a808d8c6 33 float len = length();
p3p 0:3cc1a808d8c6 34 x = x/len;
p3p 0:3cc1a808d8c6 35 y = y/len;
p3p 0:3cc1a808d8c6 36 z = z/len;
p3p 0:3cc1a808d8c6 37 }
p3p 0:3cc1a808d8c6 38
p3p 0:3cc1a808d8c6 39 float dot_product(const Vector3 &v){
p3p 0:3cc1a808d8c6 40 return x*v.x + y*v.y + z*v.z;
p3p 0:3cc1a808d8c6 41 }
p3p 0:3cc1a808d8c6 42
p3p 0:3cc1a808d8c6 43 Vector3 cross_product(const Vector3 &v){
p3p 0:3cc1a808d8c6 44 Vector3 temp(y*v.z - z*v.y, z*v.x - x*v.z, x*v.y - y*v.x);
p3p 0:3cc1a808d8c6 45 return temp;
p3p 0:3cc1a808d8c6 46 }
p3p 0:3cc1a808d8c6 47
p3p 0:3cc1a808d8c6 48 //operator overides
p3p 0:3cc1a808d8c6 49 void operator ()(const float x, const float y, const float z) {
p3p 0:3cc1a808d8c6 50 this->x = x;
p3p 0:3cc1a808d8c6 51 this->y = y;
p3p 0:3cc1a808d8c6 52 this->z = z;
p3p 0:3cc1a808d8c6 53 }
p3p 0:3cc1a808d8c6 54
p3p 0:3cc1a808d8c6 55 bool operator == (const Vector3 &v) {
p3p 0:3cc1a808d8c6 56 return (x==v.x && y==v.y && z==v.z);
p3p 0:3cc1a808d8c6 57 }
p3p 0:3cc1a808d8c6 58
p3p 0:3cc1a808d8c6 59 bool operator != (const Vector3 &v) {
p3p 0:3cc1a808d8c6 60 return (x!=v.x || y!=v.y || z!=v.z);
p3p 0:3cc1a808d8c6 61 }
p3p 0:3cc1a808d8c6 62
p3p 0:3cc1a808d8c6 63 const Vector3 &operator = (const Vector3 &v) {
p3p 0:3cc1a808d8c6 64 x = v.x;
p3p 0:3cc1a808d8c6 65 y = v.y;
p3p 0:3cc1a808d8c6 66 z = v.z;
p3p 0:3cc1a808d8c6 67 return *this;
p3p 0:3cc1a808d8c6 68 }
p3p 0:3cc1a808d8c6 69
p3p 0:3cc1a808d8c6 70 const Vector3 operator - (void) const {
p3p 0:3cc1a808d8c6 71 return Vector3(-x,-y,-z);
p3p 0:3cc1a808d8c6 72 }
p3p 0:3cc1a808d8c6 73
p3p 0:3cc1a808d8c6 74 const Vector3 operator + (const Vector3 &v) const {
p3p 0:3cc1a808d8c6 75 return Vector3(x+v.x, y+v.y, z+v.z);
p3p 0:3cc1a808d8c6 76 }
p3p 0:3cc1a808d8c6 77
p3p 0:3cc1a808d8c6 78 const Vector3 operator - (const Vector3 &v) const {
p3p 0:3cc1a808d8c6 79 return Vector3(x-v.x, y-v.y, z-v.z);
p3p 0:3cc1a808d8c6 80 }
p3p 0:3cc1a808d8c6 81
p3p 0:3cc1a808d8c6 82 const Vector3 operator * (const float num) const {
p3p 0:3cc1a808d8c6 83 Vector3 temp;
p3p 0:3cc1a808d8c6 84 temp.x = x * num;
p3p 0:3cc1a808d8c6 85 temp.y = y * num;
p3p 0:3cc1a808d8c6 86 temp.z = z * num;
p3p 0:3cc1a808d8c6 87 return temp;
p3p 0:3cc1a808d8c6 88 }
p3p 0:3cc1a808d8c6 89
p3p 0:3cc1a808d8c6 90 const Vector3 operator / (const float num) const {
p3p 0:3cc1a808d8c6 91 Vector3 temp;
p3p 0:3cc1a808d8c6 92 temp.x = x / num;
p3p 0:3cc1a808d8c6 93 temp.y = y / num;
p3p 0:3cc1a808d8c6 94 temp.z = z / num;
p3p 0:3cc1a808d8c6 95 return temp;
p3p 0:3cc1a808d8c6 96 }
p3p 0:3cc1a808d8c6 97
p3p 0:3cc1a808d8c6 98 float operator * (const Vector3 &v) const {
p3p 0:3cc1a808d8c6 99 return x*v.x + y*v.y + z*v.z;
p3p 0:3cc1a808d8c6 100 }
p3p 0:3cc1a808d8c6 101
p3p 0:3cc1a808d8c6 102 float x, y, z;
p3p 0:3cc1a808d8c6 103
p3p 0:3cc1a808d8c6 104 };
p3p 0:3cc1a808d8c6 105
p3p 0:3cc1a808d8c6 106 #endif