- Removed -fwritable-string

SKIPPED:
	psi/dornier2.c
	psi/ecbdriv.c
	psi/el734hp.c
	psi/libpsi.a
	psi/make_gen
	psi/makefile_linux
	psi/pimotor.c
	psi/pipiezo.c
	psi/sinqhttp.c
	psi/tcpdornier.c
	psi/velodornier.c

vector.c

@@ -12,6 +12,8 @@
 #include <assert.h>
 #include <math.h>
 #include "vector.h"
+#include "trigd.h"
+
 /*----------------------------------------------------------------------*/
 MATRIX makeVector(){
   return mat_creat(3,1,ZERO_MATRIX);
@@ -143,3 +145,26 @@ MATRIX matFromTwoVectors(MATRIX v1, MATRIX v2){
   killVector(a3);
   return result;
 }
+/*-----------------------------------------------------------------------*/
+double angleBetween(MATRIX v1, MATRIX v2){
+    double angle, angles;
+    MATRIX v3 = NULL;
+    
+    angle = vectorDotProduct(v1,v2)/(vectorLength(v1) * vectorLength(v2));
+    v3 = vectorCrossProduct(v1,v2);
+    if(v3 != NULL){
+        angles = vectorLength(v3)/(vectorLength(v1) * vectorLength(v2));
+        angle  = Atan2d(angles,angle);
+    } else {
+        angle = Acosd(angle);
+    }
+    return angle;
+}
+/*----------------------------------------------------------------------*/
+void scaleVector(MATRIX v, double scale){
+    int i;
+    
+    for(i = 0; i < 3; i++){
+        v[i][0]  *= scale;
+    }
+}