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diff --git a/src/lib/mathlib/math/Vector2f.cpp b/src/lib/mathlib/math/Vector2f.cpp
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+/****************************************************************************
+ *
+ *   Copyright (c) 2013 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 Vector2f.cpp
+ *
+ * math vector
+ */
+
+#include "test/test.hpp"
+
+#include "Vector2f.hpp"
+
+namespace math
+{
+
+Vector2f::Vector2f() :
+	Vector(2)
+{
+}
+
+Vector2f::Vector2f(const Vector &right) :
+	Vector(right)
+{
+#ifdef VECTOR_ASSERT
+	ASSERT(right.getRows() == 2);
+#endif
+}
+
+Vector2f::Vector2f(float x, float y) :
+	Vector(2)
+{
+	setX(x);
+	setY(y);
+}
+
+Vector2f::Vector2f(const float *data) :
+	Vector(2, data)
+{
+}
+
+Vector2f::~Vector2f()
+{
+}
+
+float Vector2f::cross(const Vector2f &b) const
+{
+	const Vector2f &a = *this;
+	return a(0)*b(1) - a(1)*b(0);
+}
+
+float Vector2f::operator %(const Vector2f &v) const
+{
+	return cross(v);
+}
+    
+float Vector2f::operator *(const Vector2f &v) const
+{
+    return dot(v);
+}
+
+int __EXPORT vector2fTest()
+{
+	printf("Test Vector2f\t\t: ");
+	// test float ctor
+	Vector2f v(1, 2);
+	ASSERT(equal(v(0), 1));
+	ASSERT(equal(v(1), 2));
+	printf("PASS\n");
+	return 0;
+}
+
+} // namespace math