diff options
author | jgoppert <james.goppert@gmail.com> | 2013-01-06 14:08:50 -0500 |
---|---|---|
committer | jgoppert <james.goppert@gmail.com> | 2013-01-06 14:08:50 -0500 |
commit | db3fabc3baccdeef3108544b4e9da9c8f0895a58 (patch) | |
tree | 27ae1dfc7a5b36e3520abcb4a8346c607524c5a1 /apps/systemlib/math/Vector3.cpp | |
parent | 1579630efef6f719deefd0949f73c5df2bcc127b (diff) | |
download | px4-firmware-db3fabc3baccdeef3108544b4e9da9c8f0895a58.tar.gz px4-firmware-db3fabc3baccdeef3108544b4e9da9c8f0895a58.tar.bz2 px4-firmware-db3fabc3baccdeef3108544b4e9da9c8f0895a58.zip |
Added math library.
Diffstat (limited to 'apps/systemlib/math/Vector3.cpp')
-rw-r--r-- | apps/systemlib/math/Vector3.cpp | 99 |
1 files changed, 99 insertions, 0 deletions
diff --git a/apps/systemlib/math/Vector3.cpp b/apps/systemlib/math/Vector3.cpp new file mode 100644 index 000000000..a30b6d198 --- /dev/null +++ b/apps/systemlib/math/Vector3.cpp @@ -0,0 +1,99 @@ +/**************************************************************************** + * + * 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 <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 |