From cf563ec00fe301dddd51b25fcab488731837a2e4 Mon Sep 17 00:00:00 2001 From: Denis Date: Sat, 18 Nov 2023 17:53:38 +0100 Subject: [PATCH] wrong matrix multiplication lol --- dev_iio.c | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/dev_iio.c b/dev_iio.c index ab0190c..36d0b9a 100644 --- a/dev_iio.c +++ b/dev_iio.c @@ -55,7 +55,7 @@ dev_iio_t* dev_iio_create(const char* path) { if (iio == NULL) { return NULL; } - + iio->anglvel_x_fd = NULL; iio->anglvel_y_fd = NULL; iio->anglvel_z_fd = NULL; @@ -392,9 +392,9 @@ int dev_iio_read( } static void multiplyMatrixVector(const double matrix[3][3], const double vector[3], double result[3]) { - result[0] = matrix[0][0] * vector[0] + matrix[0][1] * vector[1] + matrix[0][2] * vector[2]; - result[1] = matrix[1][0] * vector[0] + matrix[1][1] * vector[1] + matrix[1][2] * vector[2]; - result[2] = matrix[2][0] * vector[0] + matrix[2][1] * vector[1] + matrix[2][2] * vector[2]; + result[0] = matrix[0][0] * vector[0] + matrix[1][0] * vector[1] + matrix[2][0] * vector[2]; + result[1] = matrix[0][1] * vector[0] + matrix[1][1] * vector[1] + matrix[2][1] * vector[2]; + result[2] = matrix[0][2] * vector[0] + matrix[1][2] * vector[1] + matrix[2][2] * vector[2]; } int dev_iio_read_imu(const dev_iio_t *const iio, imu_message_t *const out) {