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Math: added zero() and identity() methods to Matrix3f

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This commit is contained in:
Andrew Tridgell 2012-03-19 17:21:08 +11:00
parent dc71191f25
commit a41281ab7f
1 changed files with 15 additions and 0 deletions
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15
libraries/AP_Math/matrix3.h
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@ -124,6 +124,21 @@ public:
Matrix3<T> transpose(void)
{ return *this = transposed(); }
// zero the matrix
void zero(void) {
a.x = a.y = a.z = 0;
b.x = b.y = b.z = 0;
c.x = c.y = c.z = 0;
}
// setup the identity matrix
void identity(void) {
a.x = b.y = c.z = 1;
a.y = a.z = 0;
b.x = b.z = 0;
c.x = c.y = 0;
}
// check if any elements are NAN
bool is_nan(void)
{ return a.is_nan() || b.is_nan() || c.is_nan(); }