Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Math: implement vector2 cross product

Browse Source 
useful in DCM for faster yaw correction
This commit is contained in:
Andrew Tridgell 2013-05-05 13:47:51 +10:00
parent f4189e083b
commit 737f0305ef
2 changed files with 9 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
libraries/AP_Math/vector2.cpp
View File

@ -33,6 +33,13 @@ T Vector2<T>::operator *(const Vector2<T> &v) const
return x*v.x + y*v.y; return x*v.x + y*v.y;
} }
// cross product
template <typename T>
T Vector2<T>::operator %(const Vector2<T> &v) const
{
return x*v.y - y*v.x;
}
template <typename T> template <typename T>
Vector2<T> &Vector2<T>::operator *=(const T num) Vector2<T> &Vector2<T>::operator *=(const T num)
{ {
@ -124,6 +131,7 @@ float Vector2<T>::angle(const Vector2<T> &v2) const
// only define for float // only define for float
template float Vector2<float>::length(void) const; template float Vector2<float>::length(void) const;
template float Vector2<float>::operator *(const Vector2<float> &v) const; template float Vector2<float>::operator *(const Vector2<float> &v) const;
template float Vector2<float>::operator %(const Vector2<float> &v) const;
template Vector2<float> &Vector2<float>::operator *=(const float num); template Vector2<float> &Vector2<float>::operator *=(const float num);
template Vector2<float> &Vector2<float>::operator /=(const float num); template Vector2<float> &Vector2<float>::operator /=(const float num);
template Vector2<float> &Vector2<float>::operator -=(const Vector2<float> &v); template Vector2<float> &Vector2<float>::operator -=(const Vector2<float> &v);

2
libraries/AP_Math/vector2.h
View File

@ -82,7 +82,7 @@ struct Vector2
T operator *(const Vector2<T> &v) const; T operator *(const Vector2<T> &v) const;
// cross product // cross product
Vector2<T> operator %(const Vector2<T> &v) const; T operator %(const Vector2<T> &v) const;
// computes the angle between this vector and another vector // computes the angle between this vector and another vector
float angle(const Vector2<T> &v2) const; float angle(const Vector2<T> &v2) const;