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VectorMath: Add scalar division to custom EKF vector math

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This commit is contained in:
Johan Jansen 2015-03-08 12:14:47 +01:00
parent 807e02b4a0
commit 11568c77d4
2 changed files with 11 additions and 0 deletions
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10
src/modules/ekf_att_pos_estimator/estimator_utilities.cpp
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@ -198,3 +198,13 @@ void swap_var(float &d1, float &d2)
d1 = d2;
d2 = tmp;
}
// overload / operator to provide a vector scalar division
Vector3f operator/(const Vector3f &vec, const float scalar)
{
Vector3f vecOut;
vecOut.x = vec.x / scalar;
vecOut.y = vec.y / scalar;
vecOut.z = vec.z / scalar;
return vecOut;
}

1
src/modules/ekf_att_pos_estimator/estimator_utilities.h
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@ -89,6 +89,7 @@ Vector3f operator*( Mat3f matIn, Vector3f vecIn);
Mat3f operator*( Mat3f matIn1, Mat3f matIn2);
Vector3f operator%( Vector3f vecIn1, Vector3f vecIn2);
Vector3f operator*(Vector3f vecIn1, float sclIn1);
Vector3f operator/(const Vector3f &vec, const float scalar);
void swap_var(float &d1, float &d2);