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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/>.
*/
/**************************************************/
//Multiply two 3x3 matrixs. This function developed by Jordi can be easily adapted to multiple n*n matrix's. (Pero me da flojera!).
void Matrix_Multiply(float a[3][3], float b[3][3], float mat[3][3])
{
for(int x = 0; x < 3; x++)
{
for(int y = 0; y < 3; y++)
{
mat[x][y] = 0;
for(int w = 0; w < 3; w++)
{
mat[x][y] += a[x][w] * b[w][y];
}
}
}
}
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