Quadrotor from scratch
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/* matrix.h */
/* dest[r][c] = m1[r][n] * m2[n][c] */
void matrix_multiply(float *dest, float *m1, float *m2, int r, int c, int n);
/* dest[r][c] = m1[r][n] * m2[c][n] */
void matrix_multiply_t(float *dest, float *m1, float *m2, int r, int c, int n);
/* dest[r][c] = m1[r][c] + m2[r][c] */
void matrix_add(float *dest, float *m1, float *m2, int r, int c);
#ifdef MATRIX_DEBUG
void dump_matrix(float *m, int r, int c);
#endif
/* Invert src into dst.
* NOTE: destroys the src matrix
*/
void matrix_invert(float *dst, float *src, int size);