px4_autopilot/apps/mathlib/math/Vector3.cpp

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/**
 * @file Vector3.cpp
 *
 * math vector
 */

#include "math/test/test.hpp"

#include "Vector3.hpp"

namespace math
{

Vector3::Vector3() :
	Vector(3)
{
}

Vector3::Vector3(const Vector &right) :
	Vector(right)
{
#ifdef VECTOR_ASSERT
	ASSERT(right.getRows() == 3);
#endif
}

Vector3::Vector3(float x, float y, float z) :
	Vector(3)
{
	setX(x);
	setY(y);
	setZ(z);
}

Vector3::Vector3(const float *data) :
	Vector(3, data)
{
}

Vector3::~Vector3()
{
}

Vector3 Vector3::cross(const Vector3 &b)
{
	Vector3 &a = *this;
	Vector3 result;
	result(0) = a(1) * b(2) - a(2) * b(1);
	result(1) = a(2) * b(0) - a(0) * b(2);
	result(2) = a(0) * b(1) - a(1) * b(0);
	return result;
}

int __EXPORT vector3Test()
{
	printf("Test Vector3\t\t: ");
	// test float ctor
	Vector3 v(1, 2, 3);
	ASSERT(equal(v(0), 1));
	ASSERT(equal(v(1), 2));
	ASSERT(equal(v(2), 3));
	printf("PASS\n");
	return 0;
}

} // namespace math