From 31e566475b3940f120b383d33b5b274077574df3 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Mon, 19 Mar 2012 17:21:08 +1100
Subject: [PATCH] Math: added zero() and identity() methods to Matrix3f

---
 libraries/AP_Math/matrix3.h | 15 +++++++++++++++
 1 file changed, 15 insertions(+)

diff --git a/libraries/AP_Math/matrix3.h b/libraries/AP_Math/matrix3.h
index 85861d6783..1f16d23717 100644
--- a/libraries/AP_Math/matrix3.h
+++ b/libraries/AP_Math/matrix3.h
@@ -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(); }