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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 Vector3.cpp
*
* math vector
*/
#include "test/test.hpp"
#include "Vector3.hpp"
namespace math
{
Vector3::Vector3() :
Vector(3)
{
}
Vector3::Vector3(const Vector &right) :
Vector(right)
{
#ifdef VECTOR_ASSERT
ASSERT(right.getRows() == 3);
#endif
}
Vector3::Vector3(float x, float y, float z) :
Vector(3)
{
setX(x);
setY(y);
setZ(z);
}
Vector3::Vector3(const float *data) :
Vector(3, data)
{
}
Vector3::~Vector3()
{
}
Vector3 Vector3::cross(const Vector3 &b) const
{
const Vector3 &a = *this;
Vector3 result;
result(0) = a(1) * b(2) - a(2) * b(1);
result(1) = a(2) * b(0) - a(0) * b(2);
result(2) = a(0) * b(1) - a(1) * b(0);
return result;
}
int __EXPORT vector3Test()
{
printf("Test Vector3\t\t: ");
// test float ctor
Vector3 v(1, 2, 3);
ASSERT(equal(v(0), 1));
ASSERT(equal(v(1), 2));
ASSERT(equal(v(2), 3));
printf("PASS\n");
return 0;
}
} // namespace math
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