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AP_Math: make vector3 xy() method return a reference

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This commit is contained in:
Andrew Tridgell 2021-06-21 17:25:51 +10:00
parent 4d7bb82f9e
commit fe4abc521a
2 changed files with 9 additions and 10 deletions
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7
libraries/AP_Math/vector3.cpp
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@ -617,13 +617,6 @@ bool Vector3<T>::segment_plane_intersect(const Vector3<T>& seg_start, const Vect
return true;
}
// return xy components of a vector3
template <typename T>
Vector2<T> Vector3<T>::xy()
{
return Vector2<T>{x,y};
}
// define for float and double
template class Vector3<float>;
template class Vector3<double>;

12
libraries/AP_Math/vector3.h
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@ -192,9 +192,15 @@ public:
// rotate vector by angle in radians in xy plane leaving z untouched
void rotate_xy(float rotation_rad);
// return xy components of a vector3
Vector2<T> xy();
// return xy components of a vector3 as a vector2.
// this returns a reference to the original vector3 xy data
const Vector2<T> &xy() const {
return *(const Vector2<T> *)this;
}
Vector2<T> &xy() {
return *(Vector2<T> *)this;
}
// gets the length of this vector squared
T length_squared() const
{