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add optimized cross3 function (code from Rohit Garg)

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This commit is contained in:
Gael Guennebaud
2009-03-11 14:20:36 +00:00
parent 3298320007
commit b8f46090ff
4 changed files with 70 additions and 0 deletions
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9
test/geo_orthomethods.cpp
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@@ -36,6 +36,8 @@ template<typename Scalar> void orthomethods_3()
typedef Matrix<Scalar,3,3> Matrix3;
typedef Matrix<Scalar,3,1> Vector3;
typedef Matrix<Scalar,4,1> Vector4;
Vector3 v0 = Vector3::Random(),
v1 = Vector3::Random(),
v2 = Vector3::Random();
@@ -59,6 +61,13 @@ template<typename Scalar> void orthomethods_3()
mcross = mat3.rowwise().cross(vec3);
VERIFY_IS_APPROX(mcross.row(i), mat3.row(i).cross(vec3));
// cross3
Vector4 v40 = Vector4::Random(),
v41 = Vector4::Random(),
v42 = Vector4::Random();
v40.w() = v41.w() = v42.w() = 0;
v42.template start<3>() = v40.template start<3>().cross(v41.template start<3>());
VERIFY_IS_APPROX(v40.cross3(v41), v42);
}
template<typename Scalar, int Size> void orthomethods(int size=Size)