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[math] int32 generic vector math (#1758)

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n-dimensional vector math in int32. Basically copied from float implementation. I did not include division and normalization.
This commit is contained in:
Bart Slinger
2016-06-21 18:10:30 +02:00
committed by Felix Ruess
parent 017ce18977
commit e3ea2c8719
1 changed files with 63 additions and 0 deletions
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sw/airborne/math/pprz_algebra_int.h
+63
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@@ -593,6 +593,69 @@ extern void int32_eulers_dot_321_of_rates(struct Int32Eulers *ed, struct Int32Eu
#define INT32_EULERS_DOT_321_OF_RATES(_ed, _e, _r) int32_eulers_dot_321_of_rates(&(_ed), &(_e), &(_r))
#define INT32_EULERS_DOT_OF_RATES(_ed, _e, _r) int32_eulers_dot_321_of_rates(&(_ed), &(_e), &(_r))
//
//
// Generic int32_t vector algebra
//
//
/** a = 0 */
static inline void int32_vect_zero(int32_t *a, const int n)
{
int i;
for (i = 0; i < n; i++) { a[i] = 0.; }
}
/** a = b */
static inline void int32_vect_copy(int32_t *a, const int32_t *b, const int n)
{
int i;
for (i = 0; i < n; i++) { a[i] = b[i]; }
}
/** o = a + b */
static inline void int32_vect_sum(int32_t *o, const int32_t *a, const int32_t *b, const int n)
{
int i;
for (i = 0; i < n; i++) { o[i] = a[i] + b[i]; }
}
/** o = a - b */
static inline void int32_vect_diff(int32_t *o, const int32_t *a, const int32_t *b, const int n)
{
int i;
for (i = 0; i < n; i++) { o[i] = a[i] - b[i]; }
}
/** o = a * b (element wise) */
static inline void int32_vect_mul(int32_t *o, const int32_t *a, const int32_t *b, const int n)
{
int i;
for (i = 0; i < n; i++) { o[i] = a[i] * b[i]; }
}
/** a += b */
static inline void int32_vect_add(int32_t *a, const int32_t *b, const int n)
{
int i;
for (i = 0; i < n; i++) { a[i] += b[i]; }
}
/** a -= b */
static inline void int32_vect_sub(int32_t *a, const int32_t *b, const int n)
{
int i;
for (i = 0; i < n; i++) { a[i] -= b[i]; }
}
/** o = a * s */
static inline void int32_vect_smul(int32_t *o, const int32_t *a, const int32_t s, const int n)
{
int i;
for (i = 0; i < n; i++) { o[i] = a[i] * s; }
}
#ifdef __cplusplus
} /* extern "C" */
#endif