5 files changed, 23 insertions, 1 deletions
diff --git a/src/lib/mathlib/math/Dcm.cpp b/src/lib/mathlib/math/Dcm.cpp
index f509f7081..5c15d4d6d 100644
--- a/src/lib/mathlib/math/Dcm.cpp
+++ b/src/lib/mathlib/math/Dcm.cpp
@@ -135,6 +135,11 @@ Dcm::Dcm(const Dcm &right) :
 {
 }
 
+Dcm::Dcm(const Matrix &right) :
+	Matrix(right)
+{
+}
+
 Dcm::~Dcm()
 {
 }
diff --git a/src/lib/mathlib/math/Dcm.hpp b/src/lib/mathlib/math/Dcm.hpp
index df8970d3a..38f697c15 100644
--- a/src/lib/mathlib/math/Dcm.hpp
+++ b/src/lib/mathlib/math/Dcm.hpp
@@ -97,6 +97,11 @@ public:
 	Dcm(const Dcm &right);
 
 	/**
+	 * copy ctor (deep)
+	 */
+	Dcm(const Matrix &right);
+
+	/**
 	 * dtor
 	 */
 	virtual ~Dcm();
diff --git a/src/lib/mathlib/math/Vector3.cpp b/src/lib/mathlib/math/Vector3.cpp
index dcb85600e..3936650c6 100644
--- a/src/lib/mathlib/math/Vector3.cpp
+++ b/src/lib/mathlib/math/Vector3.cpp
@@ -84,6 +84,16 @@ Vector3 Vector3::cross(const Vector3 &b) const
 	return result;
 }
 
+Vector3 Vector3::operator %(const Vector3 &v) const
+{
+	return cross(v);
+}
+    
+float Vector3::operator *(const Vector3 &v) const
+{
+    return dot(v);
+}
+
 int __EXPORT vector3Test()
 {
 	printf("Test Vector3\t\t: ");
diff --git a/src/lib/mathlib/math/Vector3.hpp b/src/lib/mathlib/math/Vector3.hpp
index 568d9669a..2bf00f26b 100644
--- a/src/lib/mathlib/math/Vector3.hpp
+++ b/src/lib/mathlib/math/Vector3.hpp
@@ -54,6 +54,8 @@ public:
 	Vector3(const float *data);
 	virtual ~Vector3();
 	Vector3 cross(const Vector3 &b) const;
+	Vector3 operator %(const Vector3 &v) const;
+	float operator *(const Vector3 &v) const;
 
 	/**
 	 * accessors
diff --git a/src/lib/mathlib/math/arm/Vector.hpp b/src/lib/mathlib/math/arm/Vector.hpp
index 52220fc15..a2526d0a2 100644
--- a/src/lib/mathlib/math/arm/Vector.hpp
+++ b/src/lib/mathlib/math/arm/Vector.hpp
@@ -141,7 +141,7 @@ public:
 			       getRows());
 		return result;
 	}
-	inline Vector operator*(float right) const {
+	inline Vector operator*(const float &right) const {
 		Vector result(getRows());
 		arm_scale_f32((float *)getData(),
 			      right, result.getData(),