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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-07-04 15:43:38 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-07-04 15:43:38 +0200 |
| commit | f42b3ecd962a355081d36a62924e8ae9ecc05639 (patch) | |
| tree | 57f94b62191af19d6df448763de694ea0fc599d8 /src/modules/mathlib/math/Dcm.cpp | |
| parent | 3686431231af3dbbc3ca65417e9d1ca2dcd9d1de (diff) | |
| download | px4-firmware-f42b3ecd962a355081d36a62924e8ae9ecc05639.tar.gz px4-firmware-f42b3ecd962a355081d36a62924e8ae9ecc05639.tar.bz2 px4-firmware-f42b3ecd962a355081d36a62924e8ae9ecc05639.zip | |
Substantial improvements to math lib
Diffstat (limited to 'src/modules/mathlib/math/Dcm.cpp')
| -rw-r--r-- | src/modules/mathlib/math/Dcm.cpp | 9 |
1 files changed, 9 insertions, 0 deletions
diff --git a/src/modules/mathlib/math/Dcm.cpp b/src/modules/mathlib/math/Dcm.cpp index c3742e288..f509f7081 100644 --- a/src/modules/mathlib/math/Dcm.cpp +++ b/src/modules/mathlib/math/Dcm.cpp @@ -69,6 +69,15 @@ Dcm::Dcm(float c00, float c01, float c02, dcm(2, 2) = c22; } +Dcm::Dcm(const float data[3][3]) : + Matrix(3, 3) +{ + Dcm &dcm = *this; + /* set rotation matrix */ + for (int i = 0; i < 3; i++) for (int j = 0; j < 3; j++) + dcm(i, j) = data[i][j]; +} + Dcm::Dcm(const float *data) : Matrix(3, 3, data) { |