53 lines
1.6 KiB
Arduino
53 lines
1.6 KiB
Arduino
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/*
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MinIMU-9-Arduino-AHRS
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Pololu MinIMU-9 + Arduino AHRS (Attitude and Heading Reference System)
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Copyright (c) 2011 Pololu Corporation.
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http://www.pololu.com/
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MinIMU-9-Arduino-AHRS is based on sf9domahrs by Doug Weibel and Jose Julio:
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http://code.google.com/p/sf9domahrs/
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sf9domahrs is based on ArduIMU v1.5 by Jordi Munoz and William Premerlani, Jose
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Julio and Doug Weibel:
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http://code.google.com/p/ardu-imu/
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MinIMU-9-Arduino-AHRS is free software: you can redistribute it and/or modify it
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under the terms of the GNU Lesser General Public License as published by the
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Free Software Foundation, either version 3 of the License, or (at your option)
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any later version.
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MinIMU-9-Arduino-AHRS is distributed in the hope that it will be useful, but
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WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for
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more details.
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You should have received a copy of the GNU Lesser General Public License along
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with MinIMU-9-Arduino-AHRS. If not, see <http://www.gnu.org/licenses/>.
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*/
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/**************************************************/
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//Multiply two 3x3 matrixs. This function developed by Jordi can be easily adapted to multiple n*n matrix's. (Pero me da flojera!).
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void Matrix_Multiply(float a[3][3], float b[3][3],float mat[3][3])
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{
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float op[3];
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for(int x=0; x<3; x++)
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{
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for(int y=0; y<3; y++)
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{
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for(int w=0; w<3; w++)
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{
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op[w]=a[x][w]*b[w][y];
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}
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mat[x][y]=0;
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mat[x][y]=op[0]+op[1]+op[2];
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float test=mat[x][y];
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}
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}
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}
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