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added constructor with 9 elements to matrix3.h 

corrected matrix * vector function.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@551 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
rmackay9@yahoo.com 2010-09-25 02:43:11 +00:00
parent d45f67b3ef
commit 8708675b1f
1 changed files with 6 additions and 3 deletions
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9
libraries/AP_Math/matrix3.h
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@ -47,6 +47,9 @@ public:
// setting ctor
Matrix3<T>(const Vector3<T> a0, const Vector3<T> b0, const Vector3<T> c0): a(a0), b(b0), c(c0) {}
// setting ctor
Matrix3<T>(const T ax, const T ay, const T az, const T bx, const T by, const T bz, const T cx, const T cy, const T cz): a(ax,ay,az), b(bx,by,bz), c(cx,cy,cz) {}
// function call operator
void operator () (const Vector3<T> a0, const Vector3<T> b0, const Vector3<T> c0)
{ a = a0; b = b0; c = c0; }
@ -88,9 +91,9 @@ public:
// multiplication by a vector
Vector3<T> operator *(const Vector3<T> &v) const
{
return Vector3<T>(a.x * v.x + a.y * v.x + a.z * v.x,
b.x * v.y + b.y * v.y + b.z * v.y,
c.x * v.z + c.y * v.z + c.z * v.z);
return Vector3<T>(a.x * v.x + a.y * v.y + a.z * v.z,
b.x * v.x + b.y * v.y + b.z * v.z,
c.x * v.x + c.y * v.y + c.z * v.z);
}
// multiplication by another Matrix3<T>