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diff --git a/src/lib/mathlib/math/Vector.cpp b/src/lib/mathlib/math/Vector.cpp
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+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file Vector.cpp
+ *
+ * math vector
+ */
+
+#include "test/test.hpp"
+
+#include "Vector.hpp"
+
+namespace math
+{
+
+static const float data_testA[] = {1, 3};
+static const float data_testB[] = {4, 1};
+
+static Vector testA(2, data_testA);
+static Vector testB(2, data_testB);
+
+int __EXPORT vectorTest()
+{
+	vectorAddTest();
+	vectorSubTest();
+	return 0;
+}
+
+int vectorAddTest()
+{
+	printf("Test Vector Add\t\t: ");
+	Vector r = testA + testB;
+	float data_test[] = {5.0f, 4.0f};
+	ASSERT(vectorEqual(Vector(2, data_test), r));
+	printf("PASS\n");
+	return 0;
+}
+
+int vectorSubTest()
+{
+	printf("Test Vector Sub\t\t: ");
+	Vector r(2);
+	r = testA - testB;
+	float data_test[] = { -3.0f, 2.0f};
+	ASSERT(vectorEqual(Vector(2, data_test), r));
+	printf("PASS\n");
+	return 0;
+}
+
+bool vectorEqual(const Vector &a, const Vector &b, float eps)
+{
+	if (a.getRows() != b.getRows()) {
+		printf("row number not equal a: %d, b:%d\n", a.getRows(), b.getRows());
+		return false;
+	}
+
+	bool ret = true;
+
+	for (size_t i = 0; i < a.getRows(); i++) {
+		if (!equal(a(i), b(i), eps)) {
+			printf("element mismatch (%d)\n", i);
+			ret = false;
+		}
+	}
+
+	return ret;
+}
+
+} // namespace math