PrusaFirmware/Firmware/vector_3.h

/*
  vector_3.cpp - Vector library for bed leveling
  Copyright (c) 2012 Lars Brubaker.  All right reserved.

  This library 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 2.1 of the License, or (at your option) any later version.

  This library 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 this library; if not, write to the Free Software
  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
*/
#ifndef VECTOR_3_H
#define VECTOR_3_H

#ifdef ENABLE_AUTO_BED_LEVELING
class matrix_3x3;

struct vector_3
{
	float x, y, z;

        vector_3();
	vector_3(float x, float y, float z);

	static vector_3 cross(vector_3 a, vector_3 b);

	vector_3 operator+(vector_3 v);
	vector_3 operator-(vector_3 v);
	void normalize();
	float get_length();
	vector_3 get_normal();

	void debug(char* title);
	
	void apply_rotation(matrix_3x3 matrix);
};

struct matrix_3x3
{
	float matrix[9];

	static matrix_3x3 create_from_rows(vector_3 row_0, vector_3 row_1, vector_3 row_2);
	static matrix_3x3 create_look_at(vector_3 target);
	static matrix_3x3 transpose(matrix_3x3 original);

	void set_to_identity();

	void debug(char* title);
};


void apply_rotation_xyz(matrix_3x3 rotationMatrix, float &x, float& y, float& z);
#endif // ENABLE_AUTO_BED_LEVELING

#endif // VECTOR_3_H