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author | Johan Jansen <jnsn.johan@gmail.com> | 2015-03-08 12:14:47 +0100 |
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committer | Johan Jansen <jnsn.johan@gmail.com> | 2015-03-08 12:14:47 +0100 |
commit | 11568c77d49285b7ea376e2696cdce1fdb57d13c (patch) | |
tree | 363826c2d4674268dee29081c28dc83e50906a6d /src | |
parent | 807e02b4a0dad03bd26d1d39ba5af3c5bae94750 (diff) | |
download | px4-firmware-11568c77d49285b7ea376e2696cdce1fdb57d13c.tar.gz px4-firmware-11568c77d49285b7ea376e2696cdce1fdb57d13c.tar.bz2 px4-firmware-11568c77d49285b7ea376e2696cdce1fdb57d13c.zip |
VectorMath: Add scalar division to custom EKF vector math
Diffstat (limited to 'src')
-rw-r--r-- | src/modules/ekf_att_pos_estimator/estimator_utilities.cpp | 10 | ||||
-rw-r--r-- | src/modules/ekf_att_pos_estimator/estimator_utilities.h | 1 |
2 files changed, 11 insertions, 0 deletions
diff --git a/src/modules/ekf_att_pos_estimator/estimator_utilities.cpp b/src/modules/ekf_att_pos_estimator/estimator_utilities.cpp index e2f4c7e82..64a25aaba 100644 --- a/src/modules/ekf_att_pos_estimator/estimator_utilities.cpp +++ b/src/modules/ekf_att_pos_estimator/estimator_utilities.cpp @@ -198,3 +198,13 @@ void swap_var(float &d1, float &d2) d1 = d2; d2 = tmp; } + +// overload / operator to provide a vector scalar division +Vector3f operator/(const Vector3f &vec, const float scalar) +{ + Vector3f vecOut; + vecOut.x = vec.x / scalar; + vecOut.y = vec.y / scalar; + vecOut.z = vec.z / scalar; + return vecOut; +} diff --git a/src/modules/ekf_att_pos_estimator/estimator_utilities.h b/src/modules/ekf_att_pos_estimator/estimator_utilities.h index 95b83ead4..b2d790e27 100644 --- a/src/modules/ekf_att_pos_estimator/estimator_utilities.h +++ b/src/modules/ekf_att_pos_estimator/estimator_utilities.h @@ -89,6 +89,7 @@ Vector3f operator*( Mat3f matIn, Vector3f vecIn); Mat3f operator*( Mat3f matIn1, Mat3f matIn2); Vector3f operator%( Vector3f vecIn1, Vector3f vecIn2); Vector3f operator*(Vector3f vecIn1, float sclIn1); +Vector3f operator/(const Vector3f &vec, const float scalar); void swap_var(float &d1, float &d2); |