Work on testing.

matrix/Vector.hpp

@@ -47,20 +47,24 @@ public:
         return v(i, 0);
     }
 
-    Type dot(const Vector & b) {
-        Vector &a(*this);
+    Type dot(const Vector & b) const {
+        const Vector &a(*this);
         Type r = 0;
-        for (int i = 0; i<3; i++) {
+        for (int i = 0; i<M; i++) {
             r += a(i)*b(i);
         }
         return r;
     }
 
-    Type norm() {
-        Vector &a(*this);
+    Type norm() const {
+        const Vector &a(*this);
         return sqrt(a.dot(a));
     }
 
+    inline void normalize() {
+        (*this) /= norm();
+    }
+
     /**
      * Vector Operations
      */
@@ -131,6 +135,11 @@ public:
         return res;
     }
 
+    Vector<Type, M> operator/(Type scalar) const
+    {
+        return (*this)*(1.0/scalar);
+    }
+
     Vector<Type, M> operator+(Type scalar) const
     {
         Vector<Type, M> res;