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99 lines
2.6 KiB
99 lines
2.6 KiB
/**************************************************************************** |
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* |
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* Copyright (C) 2012 PX4 Development Team. All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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/** |
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* @file Vector3.cpp |
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* |
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* math vector |
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*/ |
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#include "math/test/test.hpp" |
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#include "Vector3.hpp" |
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namespace math |
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{ |
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Vector3::Vector3() : |
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Vector(3) |
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{ |
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} |
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Vector3::Vector3(const Vector &right) : |
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Vector(right) |
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{ |
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#ifdef VECTOR_ASSERT |
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ASSERT(right.getRows() == 3); |
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#endif |
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} |
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Vector3::Vector3(float x, float y, float z) : |
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Vector(3) |
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{ |
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setX(x); |
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setY(y); |
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setZ(z); |
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} |
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Vector3::Vector3(const float *data) : |
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Vector(3, data) |
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{ |
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} |
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Vector3::~Vector3() |
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{ |
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} |
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Vector3 Vector3::cross(const Vector3 &b) |
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{ |
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Vector3 &a = *this; |
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Vector3 result; |
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result(0) = a(1) * b(2) - a(2) * b(1); |
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result(1) = a(2) * b(0) - a(0) * b(2); |
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result(2) = a(0) * b(1) - a(1) * b(0); |
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return result; |
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} |
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int __EXPORT vector3Test() |
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{ |
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printf("Test Vector3\t\t: "); |
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// test float ctor |
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Vector3 v(1, 2, 3); |
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ASSERT(equal(v(0), 1)); |
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ASSERT(equal(v(1), 2)); |
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ASSERT(equal(v(2), 3)); |
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printf("PASS\n"); |
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return 0; |
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} |
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} // namespace math
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