71 lines
1.8 KiB
C++
71 lines
1.8 KiB
C++
/*
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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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//Computes the dot product of two vectors
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float Vector_Dot_Product(float vector1[3],float vector2[3])
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{
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float op=0;
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for(int c=0; c<3; c++)
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{
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op+=vector1[c]*vector2[c];
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}
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return op;
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}
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//Computes the cross product of two vectors
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void Vector_Cross_Product(float vectorOut[3], float v1[3],float v2[3])
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{
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vectorOut[0]= (v1[1]*v2[2]) - (v1[2]*v2[1]);
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vectorOut[1]= (v1[2]*v2[0]) - (v1[0]*v2[2]);
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vectorOut[2]= (v1[0]*v2[1]) - (v1[1]*v2[0]);
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}
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//Multiply the vector by a scalar.
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void Vector_Scale(float vectorOut[3],float vectorIn[3], float scale2)
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{
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for(int c=0; c<3; c++)
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{
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vectorOut[c]=vectorIn[c]*scale2;
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}
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}
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void Vector_Add(float vectorOut[3],float vectorIn1[3], float vectorIn2[3])
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{
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for(int c=0; c<3; c++)
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{
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vectorOut[c]=vectorIn1[c]+vectorIn2[c];
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}
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}
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