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added VECT3_SUM_SCALED macro

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This commit is contained in:
Antoine Drouin
2010-11-04 15:58:05 +00:00
parent 42c5cd3b1b
commit ece30810cf
1 changed files with 8 additions and 1 deletions
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sw/airborne/math/pprz_algebra.h
+8 -1
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@@ -128,6 +128,13 @@
(_c).z = (_a).z + (_b).z; \
}
/* c = a + _s * b */
#define VECT3_SUM_SCALED(_c, _a, _b, _s) { \
(_c).x = (_a).x + (_s)*(_b).x; \
(_c).y = (_a).y + (_s)*(_b).y; \
(_c).z = (_a).z + (_s)*(_b).z; \
}
/* c = a - b */
#define VECT3_DIFF(_c, _a, _b) { \
(_c).x = (_a).x - (_b).x; \
@@ -384,7 +391,7 @@
const float m02 = MAT33_ELMT((_m),1,0)*MAT33_ELMT((_m),2,1) - MAT33_ELMT((_m),1,1)*MAT33_ELMT((_m),2,0); \
const float m12 = MAT33_ELMT((_m),0,0)*MAT33_ELMT((_m),2,1) - MAT33_ELMT((_m),0,1)*MAT33_ELMT((_m),2,0); \
const float m22 = MAT33_ELMT((_m),0,0)*MAT33_ELMT((_m),1,1) - MAT33_ELMT((_m),0,1)*MAT33_ELMT((_m),1,0); \
const float det = MAT33_ELMT((_m),0,0)*m00 - MAT33_ELMT((_m),1,0)*m10 + MAT33_ELMT((_m),2,0)*m20; \
const float det = MAT33_ELMT((_m),0,0)*m00 - MAT33_ELMT((_m),1,0)*m10 + MAT33_ELMT((_m),2,0)*m20; \
if (fabs(det) > FLT_EPSILON) { \
MAT33_ELMT((_minv),0,0) = m00 / det; \
MAT33_ELMT((_minv),1,0) = -m01 / det; \