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Some minor fixes prompted while looking at the code for other reasons. 

Return non-const values from assignment.  Fix operator* for matrix3.



git-svn-id: https://arducopter.googlecode.com/svn/trunk@536 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
DrZiplok@gmail.com 2010-09-22 16:15:26 +00:00
parent 9db013e648
commit 646045ef44
3 changed files with 12 additions and 12 deletions
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4
libraries/AP_Math/matrix3.h
View File

@ -60,7 +60,7 @@ public:
{ return (a!=m.a || b!=m.b || c!=m.c); } { return (a!=m.a || b!=m.b || c!=m.c); }
// set to value // set to value
const Matrix3<T> &operator = (const Matrix3<T> &m) Matrix3<T> &operator = (const Matrix3<T> &m)
{ {
a= m.a; b= m.b; c= m.c; a= m.a; b= m.b; c= m.c;
return *this; return *this;
@ -103,7 +103,7 @@ public:
// multiplication by another Matrix3<T> // multiplication by another Matrix3<T>
const Matrix3<T> operator *(const Matrix3<T> &m) const const Matrix3<T> operator *(const Matrix3<T> &m) const
{ {
Matrix3<T> temp = (Vector3<T>(a.x * m.a.x + a.y * m.b.x + a.z * m.c.x, Matrix3<T> temp (Vector3<T>(a.x * m.a.x + a.y * m.b.x + a.z * m.c.x,
a.x * m.a.y + a.y * m.b.y + a.z * m.c.y, a.x * m.a.y + a.y * m.b.y + a.z * m.c.y,
a.x * m.a.z + a.y * m.b.z + a.z * m.c.z), a.x * m.a.z + a.y * m.b.z + a.z * m.c.z),
Vector3<T>(b.x * m.a.x + b.y * m.b.x + b.z * m.c.x, Vector3<T>(b.x * m.a.x + b.y * m.b.x + b.z * m.c.x,

2
libraries/AP_Math/vector2.h
View File

@ -58,7 +58,7 @@ struct Vector2
{ return (x!=v.x || y!=v.y); } { return (x!=v.x || y!=v.y); }
// set to value // set to value
const Vector2<T> &operator =(const Vector2<T> &v) Vector2<T> &operator =(const Vector2<T> &v)
{ {
x= v.x; y= v.y; x= v.x; y= v.y;
return *this; return *this;

2
libraries/AP_Math/vector3.h
View File

@ -68,7 +68,7 @@ public:
{ return (x!=v.x || y!=v.y || z!=v.z); } { return (x!=v.x || y!=v.y || z!=v.z); }
// set to value // set to value
const Vector3<T> &operator =(const Vector3<T> &v) Vector3<T> &operator =(const Vector3<T> &v)
{ {
x= v.x; y= v.y; z= v.z; x= v.x; y= v.y; z= v.z;
return *this; return *this;