Michael Shimniok / LSM303DLH

Interface library for STMicro LSM303DLH 3-axis magnetometer w/ 3-axis acceleromter. Computes magnetic heading.

Dependents:   AVC_20110423

vector.cpp

Committer:
shimniok
Date:
2011-04-12
Revision:
2:aea5caec809c
Parent:
0:de767f4959ef

File content as of revision 2:aea5caec809c:

#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;
}