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AP_Math: implement vector2 cross product

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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
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8
libraries/AP_Math/vector2.cpp
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@ -33,6 +33,13 @@ T Vector2<T>::operator *(const Vector2<T> &v) const
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>
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
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 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);

2
libraries/AP_Math/vector2.h
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@ -82,7 +82,7 @@ struct Vector2
T operator *(const Vector2<T> &v) const;
// 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
float angle(const Vector2<T> &v2) const;