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added more cross product macros

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This commit is contained in:
Felix Ruess
2011-12-07 02:45:22 +01:00
parent 257bb4b4e8
commit 1dab376bf4
1 changed files with 13 additions and 0 deletions
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sw/airborne/math/pprz_algebra.h
+13
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@@ -199,6 +199,19 @@
if ((_v).z > (_v_max).y) (_v).z = (_v_max).z; else if ((_v).z < (_v_min).z) (_v).z = (_v_min).z; \
}
#define VECT3_CROSS_PRODUCT(_vo, _v1, _v2) { \
(_vo).x = (_v1).y*(_v2).z - (_v1).z*(_v2).y; \
(_vo).y = (_v1).z*(_v2).x - (_v1).x*(_v2).z; \
(_vo).z = (_v1).x*(_v2).y - (_v1).y*(_v2).x; \
}
#define VECT3_RATES_CROSS_VECT3(_vo, _r1, _v2) { \
(_vo).x = (_r1).q*(_v2).z - (_r1).r*(_v2).y; \
(_vo).y = (_r1).r*(_v2).x - (_r1).p*(_v2).z; \
(_vo).z = (_r1).p*(_v2).y - (_r1).q*(_v2).x; \
}
/*