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/*
MinIMU-9-Arduino-AHRS
Pololu MinIMU-9 + Arduino AHRS (Attitude and Heading Reference System)
Copyright (c) 2011-2016 Pololu Corporation.
http://www.pololu.com/
MinIMU-9-Arduino-AHRS is based on sf9domahrs by Doug Weibel and Jose Julio:
http://code.google.com/p/sf9domahrs/
sf9domahrs is based on ArduIMU v1.5 by Jordi Munoz and William Premerlani, Jose
Julio and Doug Weibel:
http://code.google.com/p/ardu-imu/
MinIMU-9-Arduino-AHRS is free software: you can redistribute it and/or modify it
under the terms of the GNU Lesser General Public License as published by the
Free Software Foundation, either version 3 of the License, or (at your option)
any later version.
MinIMU-9-Arduino-AHRS is distributed in the hope that it will be useful, but
WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for
more details.
You should have received a copy of the GNU Lesser General Public License along
with MinIMU-9-Arduino-AHRS. If not, see <http://www.gnu.org/licenses/>.
*/
//Computes the dot product of two vectors
float Vector_Dot_Product(float vector1[3],float vector2[3])
{
float op=0;
for(int c=0; c<3; c++)
{
op+=vector1[c]*vector2[c];
}
return op;
}
//Computes the cross product of two vectors
void Vector_Cross_Product(float vectorOut[3], float v1[3],float v2[3])
{
vectorOut[0]= (v1[1]*v2[2]) - (v1[2]*v2[1]);
vectorOut[1]= (v1[2]*v2[0]) - (v1[0]*v2[2]);
vectorOut[2]= (v1[0]*v2[1]) - (v1[1]*v2[0]);
}
//Multiply the vector by a scalar.
void Vector_Scale(float vectorOut[3],float vectorIn[3], float scale2)
{
for(int c=0; c<3; c++)
{
vectorOut[c]=vectorIn[c]*scale2;
}
}
void Vector_Add(float vectorOut[3],float vectorIn1[3], float vectorIn2[3])
{
for(int c=0; c<3; c++)
{
vectorOut[c]=vectorIn1[c]+vectorIn2[c];
}
}
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