Diff: Vector3.h

Revision:

0:3cc1a808d8c6

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Vector3.h	Mon Sep 01 13:48:26 2014 +0000
@@ -0,0 +1,106 @@
+#ifndef __AHRSMATHDSP_VECTOR3_
+#define __AHRSMATHDSP_VECTOR3_
+
+#include "arm_math.h"
+
+class Vector3 {
+public:
+    Vector3(){
+        x = y = z = 0;
+    }
+    
+    Vector3(float x, float y, float z){
+        this->x = x;
+        this->y = y;
+        this->z = z;
+    }
+    
+    void set(float x, float y, float z){
+        this->x = x;
+        this->y = y;
+        this->z = z;     
+    }
+    
+    float length_squared(){
+        return x*x + y*y + z*z;
+    }
+    
+    float length(){
+        return sqrt(length_squared());    
+    }
+    
+    void normalise(){
+        float len = length();
+        x = x/len;
+        y = y/len;
+        z = z/len;
+    }
+    
+    float dot_product(const Vector3 &v){
+        return x*v.x + y*v.y + z*v.z;
+    }
+    
+    Vector3 cross_product(const Vector3 &v){
+        Vector3 temp(y*v.z - z*v.y, z*v.x - x*v.z, x*v.y - y*v.x);
+        return temp;
+    }
+    
+    //operator overides
+    void operator ()(const float x, const float y, const float z) {
+        this->x = x;
+        this->y = y;
+        this->z = z;
+    }
+
+    bool operator == (const Vector3 &v) {
+        return (x==v.x && y==v.y && z==v.z);
+    }
+
+    bool operator != (const Vector3 &v) {
+        return (x!=v.x || y!=v.y || z!=v.z);
+    }
+
+    const Vector3 &operator = (const Vector3 &v) {   
+        x = v.x;
+        y = v.y;
+        z = v.z;     
+        return *this;
+    }
+    
+    const Vector3 operator - (void) const {
+        return Vector3(-x,-y,-z);
+    }
+ 
+    const Vector3 operator + (const Vector3 &v) const {
+        return Vector3(x+v.x, y+v.y, z+v.z);
+    }  
+
+    const Vector3 operator - (const Vector3 &v) const {
+        return Vector3(x-v.x, y-v.y, z-v.z);
+    }
+    
+    const Vector3 operator * (const float num) const {
+        Vector3 temp;
+        temp.x = x * num;
+        temp.y = y * num;  
+        temp.z = z * num;  
+        return temp;
+    }
+
+    const Vector3 operator / (const float num) const {
+        Vector3 temp;
+        temp.x = x / num;
+        temp.y = y / num;  
+        temp.z = z / num;  
+        return temp;
+    }
+    
+    float operator * (const Vector3 &v) const {
+        return x*v.x + y*v.y + z*v.z;
+    }
+    
+    float x, y, z;
+       
+};
+
+#endif
\ No newline at end of file