vector3.c File Reference

#include "attitude/vector3.h"
#include <math.h>

Go to the source code of this file.

Functions
void	vector3_add (const double a[3], const double b[3], double out[3])
	Add two 3D vectors component-wise.
void	vector3_cross (const double a[3], const double b[3], double out[3])
	Compute the cross product of two vectors.
double	vector3_dot (const double a[3], const double b[3])
	Compute the dot product of two vectors.
double	vector3_mag (const double v[3])
void	vector3_normalize (double v[3])
	Normalise a 3D vector in-place.
int	vector3_normalize_safe (double v[3])
void	vector3_sub (const double a[3], const double b[3], double out[3])
	Subtract two 3D vectors component-wise.

Function Documentation

vector3_add()

void vector3_add	(	const double	a[3],
		const double	b[3],
		double	out[3]
	)

Add two 3D vectors component-wise.

Parameters

a	First operand.
b	Second operand.
out	Output \(a + b\).

Definition at line 4 of file vector3.c.

                                                                      {
    out[0] = a[0] + b[0];
    out[1] = a[1] + b[1];
    out[2] = a[2] + b[2];
}

vector3_cross()

void vector3_cross	(	const double	a[3],
		const double	b[3],
		double	out[3]
	)

Compute the cross product of two vectors.

Parameters

a	First vector.
b	Second vector.
out	Output \(a \times b\).

Definition at line 20 of file vector3.c.

                                                                        {
    out[0] = a[1]*b[2] - a[2]*b[1];
    out[1] = a[2]*b[0] - a[0]*b[2];
    out[2] = a[0]*b[1] - a[1]*b[0];
}

vector3_dot()

double vector3_dot	(	const double	a[3],
		const double	b[3]
	)

Compute the dot product of two vectors.

Parameters

a	First vector.
b	Second vector.

Returns

Dot product \(a \cdot b\).

Definition at line 16 of file vector3.c.

                                                         {
    return a[0]*b[0] + a[1]*b[1] + a[2]*b[2];
}

vector3_mag()

double vector3_mag

(

const double

v[3]

)

Definition at line 33 of file vector3.c.

                                      {
    return sqrt(v[0]*v[0] + v[1]*v[1] + v[2]*v[2]);
}

vector3_normalize()

void vector3_normalize

(

double

v[3]

)

Normalise a 3D vector in-place.

Parameters

v	Vector to normalise.

Definition at line 26 of file vector3.c.

                                    {
    double mag = sqrt(v[0]*v[0]+v[1]*v[1]+v[2]*v[2]);
    if (mag > 0) {
        v[0]/=mag; v[1]/=mag; v[2]/=mag;
    }
}

vector3_normalize_safe()

int vector3_normalize_safe

(

double

v[3]

)

Definition at line 37 of file vector3.c.

                                        {
    double mag = vector3_mag(v);
    if (mag < 1e-14) {
        // Too small to normalize, return failure
        return 0;
    }
    v[0] /= mag; v[1] /= mag; v[2] /= mag;
    return 1;
}

vector3_sub()

void vector3_sub	(	const double	a[3],
		const double	b[3],
		double	out[3]
	)

Subtract two 3D vectors component-wise.

Parameters

a	Minuend.
b	Subtrahend.
out	Output \(a - b\).

Definition at line 10 of file vector3.c.

                                                                      {
    out[0] = a[0] - b[0];
    out[1] = a[1] - b[1];
    out[2] = a[2] - b[2];
}