/*

MinIMU-9-Arduino-AHRS
Pololu MinIMU-9 + Arduino AHRS (Attitude and Heading Reference System)

Copyright (c) 2011 Pololu Corporation.
http://www.pololu.com/

MinIMU-9-Arduino-AHRS is based on sf9domahrs by Doug Weibel and Jose Julio:
http://code.google.com/p/sf9domahrs/

sf9domahrs is based on ArduIMU v1.5 by Jordi Munoz and William Premerlani, Jose
Julio and Doug Weibel:
http://code.google.com/p/ardu-imu/

MinIMU-9-Arduino-AHRS is free software: you can redistribute it and/or modify it
under the terms of the GNU Lesser General Public License as published by the
Free Software Foundation, either version 3 of the License, or (at your option)
any later version.

MinIMU-9-Arduino-AHRS is distributed in the hope that it will be useful, but
WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for
more details.

You should have received a copy of the GNU Lesser General Public License along
with MinIMU-9-Arduino-AHRS. If not, see <http://www.gnu.org/licenses/>.

*/

//Computes the dot product of two vectors
float Vector_Dot_Product(float vector1[3],float vector2[3])
{
  float op=0;
  
  for(int c=0; c<3; c++)
  {
  op+=vector1[c]*vector2[c];
  }
  
  return op; 
}

//Computes the cross product of two vectors
void Vector_Cross_Product(float vectorOut[3], float v1[3],float v2[3])
{
  vectorOut[0]= (v1[1]*v2[2]) - (v1[2]*v2[1]);
  vectorOut[1]= (v1[2]*v2[0]) - (v1[0]*v2[2]);
  vectorOut[2]= (v1[0]*v2[1]) - (v1[1]*v2[0]);
}

//Multiply the vector by a scalar. 
void Vector_Scale(float vectorOut[3],float vectorIn[3], float scale2)
{
  for(int c=0; c<3; c++)
  {
   vectorOut[c]=vectorIn[c]*scale2; 
  }
}

void Vector_Add(float vectorOut[3],float vectorIn1[3], float vectorIn2[3])
{
  for(int c=0; c<3; c++)
  {
     vectorOut[c]=vectorIn1[c]+vectorIn2[c];
  }
}