25 lines
792 B
C++
25 lines
792 B
C++
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/**
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******************************************************************************
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* @file matrix.cpp/h
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* @brief Matrix/vector calculation. 矩阵/向量运算
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* @author Spoon Guan
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******************************************************************************
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* Copyright (c) 2023 Team JiaoLong-SJTU
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* All rights reserved.
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******************************************************************************
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*/
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#include "matrix.h"
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// hat of vector
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Matrixf<3, 3> vector3f::hat(Matrixf<3, 1> vec) {
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float hat[9] = {0, -vec[2][0], vec[1][0], vec[2][0], 0,
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-vec[0][0], -vec[1][0], vec[0][0], 0};
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return Matrixf<3, 3>(hat);
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}
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// cross product
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Matrixf<3, 1> vector3f::cross(Matrixf<3, 1> vec1, Matrixf<3, 1> vec2) {
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return vector3f::hat(vec1) * vec2;
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}
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