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Minor code size optimisation; use memset to zero *this rather than explicitly assigning zero to the vector elements. Still not quite optimal for matrix3 as it gets three memsets, but still cheaper in terms of code size.

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1212 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
DrZiplok@gmail.com 2010-12-20 01:52:23 +00:00
parent 47bb4d22c6
commit 290635b354
3 changed files with 8 additions and 7 deletions
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1
libraries/AP_Math/matrix3.h
View File

@ -42,6 +42,7 @@ public:
Vector3<T> a, b, c;
// trivial ctor
// note that the Vector3 ctor will zero the vector elements
Matrix3<T>() {}
// setting ctor

7
libraries/AP_Math/vector2.h
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@ -30,9 +30,8 @@ struct Vector2
{
T x, y;
// trivial ctor
Vector2<T>(): x(0),y(0) {}
Vector2<T>() {memset(this, 0, sizeof(*this));}
// setting ctor
Vector2<T>(const T x0, const T y0): x(x0), y(y0) {}
@ -140,11 +139,11 @@ struct Vector2
{ return v * (*this * v)/(v*v); }
// computes the angle between 2 arbitrary vectors
static inline T angle(const Vector2<T> &v1, const Vector2<T> &v2)
T angle(const Vector2<T> &v1, const Vector2<T> &v2)
{ return (T)acosf((v1*v2) / (v1.length()*v2.length())); }
// computes the angle between 2 normalized arbitrary vectors
static inline T angle_normalized(const Vector2<T> &v1, const Vector2<T> &v2)
T angle_normalized(const Vector2<T> &v1, const Vector2<T> &v2)
{ return (T)acosf(v1*v2); }
};

7
libraries/AP_Math/vector3.h
View File

@ -42,6 +42,7 @@
#define VECTOR3_H
#include <math.h>
#include <string.h>
template <typename T>
class Vector3
@ -50,7 +51,7 @@ public:
T x, y, z;
// trivial ctor
Vector3<T>(): x(0),y(0),z(0) {}
Vector3<T>() {memset(this, 0, sizeof(*this));}
// setting ctor
Vector3<T>(const T x0, const T y0, const T z0): x(x0), y(y0), z(z0) {}
@ -165,11 +166,11 @@ public:
{ return v * (*this * v)/(v*v); }
// computes the angle between 2 arbitrary vectors
static inline T angle(const Vector3<T> &v1, const Vector3<T> &v2)
T angle(const Vector3<T> &v1, const Vector3<T> &v2)
{ return (T)acosf((v1*v2) / (v1.length()*v2.length())); }
// computes the angle between 2 arbitrary normalized vectors
static inline T angle_normalized(const Vector3<T> &v1, const Vector3<T> &v2)
T angle_normalized(const Vector3<T> &v1, const Vector3<T> &v2)
{ return (T)acosf(v1*v2); }
};