00001 00002 // 00003 // This file is part of MPU9150Lib 00004 // 00005 // Copyright (c) 2013 Pansenti, LLC 00006 // 00007 // Permission is hereby granted, free of charge, to any person obtaining a copy of 00008 // this software and associated documentation files (the "Software"), to deal in 00009 // the Software without restriction, including without limitation the rights to use, 00010 // copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the 00011 // Software, and to permit persons to whom the Software is furnished to do so, 00012 // subject to the following conditions: 00013 // 00014 // The above copyright notice and this permission notice shall be included in all 00015 // copies or substantial portions of the Software. 00016 // 00017 // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, 00018 // INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A 00019 // PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT 00020 // HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION 00021 // OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE 00022 // SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. 00023 00024 #ifndef MPUVECTOR3_H_ 00025 #define MPUVECTOR3_H_ 00026 00027 #include <Arduino.h> 00028 #include <math.h> 00029 00030 00031 #define DEGREE_TO_RAD (float)M_PI / 180.0f) 00032 #define RAD_TO_DEGREE (180.0f / (float)M_PI) 00033 00034 #define VEC3_X 0 // x offset 00035 #define VEC3_Y 1 // y offset 00036 #define VEC3_Z 2 // z offset 00037 00038 typedef float MPUVector3[3]; 00039 00040 void MPUVector3DotProduct(MPUVector3 a, MPUVector3 b, float *d); 00041 void MPUVector3CrossProduct(MPUVector3 a, MPUVector3 b, MPUVector3 d); 00042 00043 00044 #endif /* MPUVECTOR3_H_ */