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*add PartialRedux::cross() with unit test

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*add transform-from-matrices test
*undo an unwanted change in Matrix
This commit is contained in:
Benoit Jacob
2009-01-05 14:26:34 +00:00
parent d316d4f393
commit 986f301233
3 changed files with 48 additions and 1 deletions
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28
Eigen/src/Array/PartialRedux.h
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@@ -172,6 +172,8 @@ template<typename ExpressionType, int Direction> class PartialRedux
> Type;
};
typedef typename ExpressionType::PlainMatrixType CrossReturnType;
inline PartialRedux(const ExpressionType& matrix) : m_matrix(matrix) {}
/** \internal */
@@ -245,6 +247,32 @@ template<typename ExpressionType, int Direction> class PartialRedux
const typename ReturnType<ei_member_any>::Type any() const
{ return _expression(); }
/** \returns a 3x3 matrix expression of the cross product
* of each column or row of the referenced expression with the \a other vector.
*
* \geometry_module
*
* \sa MatrixBase::cross() */
template<typename OtherDerived>
const CrossReturnType cross(const MatrixBase<OtherDerived>& other) const
{
EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(CrossReturnType,3,3)
EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,3)
EIGEN_STATIC_ASSERT((ei_is_same_type<Scalar, typename OtherDerived::Scalar>::ret),
YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
if(Direction==Vertical)
return (CrossReturnType()
<< _expression().col(0).cross(other),
_expression().col(1).cross(other),
_expression().col(2).cross(other)).finished();
else
return (CrossReturnType()
<< _expression().row(0).cross(other),
_expression().row(1).cross(other),
_expression().row(2).cross(other)).finished();
}
protected:
ExpressionTypeNested m_matrix;
};