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/**
* @file Vector3.cpp
*
* math vector
*/
#include <systemlib/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)
{
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
