diff options
| author | Anton Babushkin <anton.babushkin@me.com> | 2013-12-18 23:01:02 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-12-18 23:01:02 +0400 |
| commit | e3a5a384d7b3678d1cbef63dc28fbe9a8f1de940 (patch) | |
| tree | 1f90de01a4f5b1be1eb827981330400c43242013 /src/lib/mathlib/math/Matrix3.hpp | |
| parent | a83e3cd22276109301678c204e83050483200d6b (diff) | |
| download | px4-firmware-e3a5a384d7b3678d1cbef63dc28fbe9a8f1de940.tar.gz px4-firmware-e3a5a384d7b3678d1cbef63dc28fbe9a8f1de940.tar.bz2 px4-firmware-e3a5a384d7b3678d1cbef63dc28fbe9a8f1de940.zip | |
mathlib: fixes and improvements, WIP
Diffstat (limited to 'src/lib/mathlib/math/Matrix3.hpp')
| -rw-r--r-- | src/lib/mathlib/math/Matrix3.hpp | 12 |
1 files changed, 10 insertions, 2 deletions
diff --git a/src/lib/mathlib/math/Matrix3.hpp b/src/lib/mathlib/math/Matrix3.hpp index 3236cd3d1..c7eb67ba7 100644 --- a/src/lib/mathlib/math/Matrix3.hpp +++ b/src/lib/mathlib/math/Matrix3.hpp @@ -74,14 +74,15 @@ public: * setting ctor */ Matrix3<T>(const T d[3][3]) { - memcpy(data, d, sizeof(data)); arm_mat = {3, 3, &data[0][0]}; + memcpy(data, d, sizeof(data)); } /** * setting ctor */ Matrix3<T>(const T ax, const T ay, const T az, const T bx, const T by, const T bz, const T cx, const T cy, const T cz) { + arm_mat = {3, 3, &data[0][0]}; data[0][0] = ax; data[0][1] = ay; data[0][2] = az; @@ -91,7 +92,6 @@ public: data[2][0] = cx; data[2][1] = cy; data[2][2] = cz; - arm_mat = {3, 3, &data[0][0]}; } /** @@ -125,6 +125,14 @@ public: } /** + * set to value + */ + const Matrix3<T> &operator =(const Matrix3<T> &m) { + memcpy(data, m.data, sizeof(data)); + return *this; + } + + /** * test for equality */ bool operator ==(const Matrix3<T> &m) { |