Math: moved matrix multiple operations to .cpp file

this means we only link this in once, rather than for every use of
matrix multiply, which saves us some flash space

We need to be careful not to put large pieces of code in template
headers, as if the operation is used a lot, it costs us a lot of code
space

libraries/AP_Math/matrix3.cpp

@@ -153,8 +153,37 @@ void Matrix3<T>::rotate(const Vector3<T> &g)
 	(*this) += temp_matrix;
 }
 
+
+// multiplication by a vector
+template <typename T>
+Vector3<T> Matrix3<T>::operator *(const Vector3<T> &v) const
+{
+    return Vector3<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,
+                      c.x * v.x + c.y * v.y + c.z * v.z);
+}
+
+// multiplication by another Matrix3<T>
+template <typename T>
+Matrix3<T> Matrix3<T>::operator *(const Matrix3<T> &m) const
+{
+    Matrix3<T> temp (Vector3<T>(a.x * m.a.x + a.y * m.b.x + a.z * m.c.x,
+                                a.x * m.a.y + a.y * m.b.y + a.z * m.c.y,
+                                a.x * m.a.z + a.y * m.b.z + a.z * m.c.z),
+                     Vector3<T>(b.x * m.a.x + b.y * m.b.x + b.z * m.c.x,
+                                b.x * m.a.y + b.y * m.b.y + b.z * m.c.y,
+                                b.x * m.a.z + b.y * m.b.z + b.z * m.c.z),
+                     Vector3<T>(c.x * m.a.x + c.y * m.b.x + c.z * m.c.x,
+                                c.x * m.a.y + c.y * m.b.y + c.z * m.c.y,
+                                c.x * m.a.z + c.y * m.b.z + c.z * m.c.z));
+    return temp;
+}
+
+
 // only define for float
 template void Matrix3<float>::rotation(enum Rotation);
 template void Matrix3<float>::rotate(const Vector3<float> &g);
 template void Matrix3<float>::from_euler(float roll, float pitch, float yaw);
 template void Matrix3<float>::to_euler(float *roll, float *pitch, float *yaw);
+template Vector3<float> Matrix3<float>::operator *(const Vector3<float> &v) const;
+template Matrix3<float> Matrix3<float>::operator *(const Matrix3<float> &m) const;

libraries/AP_Math/matrix3.h

@@ -90,27 +90,11 @@ public:
 	{	return *this = *this / num;	}
 
 	// multiplication by a vector
-	Vector3<T> operator *(const Vector3<T> &v) const
+	Vector3<T> operator *(const Vector3<T> &v) const;
-	{
-		return Vector3<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,
-						  c.x * v.x + c.y * v.y + c.z * v.z);
-	}
 
 	// multiplication by another Matrix3<T>
-	Matrix3<T> operator *(const Matrix3<T> &m) const
+	Matrix3<T> operator *(const Matrix3<T> &m) const;
-	{
+
-		Matrix3<T> temp (Vector3<T>(a.x * m.a.x + a.y * m.b.x + a.z * m.c.x,
-									a.x * m.a.y + a.y * m.b.y + a.z * m.c.y,
-									a.x * m.a.z + a.y * m.b.z + a.z * m.c.z),
-						 Vector3<T>(b.x * m.a.x + b.y * m.b.x + b.z * m.c.x,
-									b.x * m.a.y + b.y * m.b.y + b.z * m.c.y,
-									b.x * m.a.z + b.y * m.b.z + b.z * m.c.z),
-						 Vector3<T>(c.x * m.a.x + c.y * m.b.x + c.z * m.c.x,
-									c.x * m.a.y + c.y * m.b.y + c.z * m.c.y,
-									c.x * m.a.z + c.y * m.b.z + c.z * m.c.z));
-		return temp;
-	}
 	Matrix3<T> &operator *=(const Matrix3<T> &m)
 	{	return *this = *this * m;	}