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AP_Math: added mulXY() for matrix3 and vector3 

returns the XY components of the product
This commit is contained in:
Andrew Tridgell 2013-05-05 13:47:23 +10:00
parent ee2daf25b6
commit f4189e083b
2 changed files with 12 additions and 0 deletions
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9
libraries/AP_Math/matrix3.cpp
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@ -203,6 +203,14 @@ Vector3<T> Matrix3<T>::operator *(const Vector3<T> &v) const
c.x * v.x + c.y * v.y + c.z * v.z);
}
// multiplication by a vector, extracting only the xy components
template <typename T>
Vector2<T> Matrix3<T>::mulXY(const Vector3<T> &v) const
{
return Vector2<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);
}
// multiplication of transpose by a vector
template <typename T>
Vector3<T> Matrix3<T>::mul_transpose(const Vector3<T> &v) const
@ -255,3 +263,4 @@ template Vector3<float> Matrix3<float>::operator *(const Vector3<float> &v) cons
template Vector3<float> Matrix3<float>::mul_transpose(const Vector3<float> &v) const;
template Matrix3<float> Matrix3<float>::operator *(const Matrix3<float> &m) const;
template Matrix3<float> Matrix3<float>::transposed(void) const;
template Vector2<float> Matrix3<float>::mulXY(const Vector3<float> &v) const;

3
libraries/AP_Math/matrix3.h
View File

@ -122,6 +122,9 @@ public:
// multiplication of transpose by a vector
Vector3<T> mul_transpose(const Vector3<T> &v) const;
// multiplication by a vector giving a Vector2 result (XY components)
Vector2<T> mulXY(const Vector3<T> &v) const;
// extract x column
Vector3<T> colx(void) const
{