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fix cross product for complexes and add support for mixed real-complex cross products

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This commit is contained in:
Gael Guennebaud
2011-01-27 11:33:37 +01:00
parent 0bfb78c824
commit e8d6a5ca87
3 changed files with 34 additions and 15 deletions
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10
Eigen/src/Core/MatrixBase.h
View File

@@ -399,8 +399,16 @@ template<typename Derived> class MatrixBase
/////////// Geometry module ///////////
#ifndef EIGEN_PARSED_BY_DOXYGEN
/// \internal helper struct to form the return type of the cross product
template<typename OtherDerived> struct cross_product_return_type {
typedef typename internal::scalar_product_traits<typename internal::traits<Derived>::Scalar,typename internal::traits<OtherDerived>::Scalar>::ReturnType Scalar;
typedef Matrix<Scalar,RowsAtCompileTime,ColsAtCompileTime> type;
};
#endif // EIGEN_PARSED_BY_DOXYGEN
template<typename OtherDerived>
PlainObject cross(const MatrixBase<OtherDerived>& other) const;
typename cross_product_return_type<OtherDerived>::type
cross(const MatrixBase<OtherDerived>& other) const;
template<typename OtherDerived>
PlainObject cross3(const MatrixBase<OtherDerived>& other) const;
PlainObject unitOrthogonal(void) const;

28
Eigen/src/Geometry/OrthoMethods.h
View File

@@ -35,7 +35,7 @@
*/
template<typename Derived>
template<typename OtherDerived>
inline typename MatrixBase<Derived>::PlainObject
inline typename MatrixBase<Derived>::template cross_product_return_type<OtherDerived>::type
MatrixBase<Derived>::cross(const MatrixBase<OtherDerived>& other) const
{
EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Derived,3)
@@ -45,10 +45,10 @@ MatrixBase<Derived>::cross(const MatrixBase<OtherDerived>& other) const
// optimize such a small temporary very well (even within a complex expression)
const typename internal::nested<Derived,2>::type lhs(derived());
const typename internal::nested<OtherDerived,2>::type rhs(other.derived());
return typename internal::plain_matrix_type<Derived>::type(
lhs.coeff(1) * rhs.coeff(2) - lhs.coeff(2) * rhs.coeff(1),
lhs.coeff(2) * rhs.coeff(0) - lhs.coeff(0) * rhs.coeff(2),
lhs.coeff(0) * rhs.coeff(1) - lhs.coeff(1) * rhs.coeff(0)
return typename cross_product_return_type<OtherDerived>::type(
internal::conj(lhs.coeff(1) * rhs.coeff(2) - lhs.coeff(2) * rhs.coeff(1)),
internal::conj(lhs.coeff(2) * rhs.coeff(0) - lhs.coeff(0) * rhs.coeff(2)),
internal::conj(lhs.coeff(0) * rhs.coeff(1) - lhs.coeff(1) * rhs.coeff(0))
);
}
@@ -62,9 +62,9 @@ struct cross3_impl {
run(const VectorLhs& lhs, const VectorRhs& rhs)
{
return typename internal::plain_matrix_type<VectorLhs>::type(
lhs.coeff(1) * rhs.coeff(2) - lhs.coeff(2) * rhs.coeff(1),
lhs.coeff(2) * rhs.coeff(0) - lhs.coeff(0) * rhs.coeff(2),
lhs.coeff(0) * rhs.coeff(1) - lhs.coeff(1) * rhs.coeff(0),
internal::conj(lhs.coeff(1) * rhs.coeff(2) - lhs.coeff(2) * rhs.coeff(1)),
internal::conj(lhs.coeff(2) * rhs.coeff(0) - lhs.coeff(0) * rhs.coeff(2)),
internal::conj(lhs.coeff(0) * rhs.coeff(1) - lhs.coeff(1) * rhs.coeff(0)),
0
);
}
@@ -121,16 +121,16 @@ VectorwiseOp<ExpressionType,Direction>::cross(const MatrixBase<OtherDerived>& ot
if(Direction==Vertical)
{
eigen_assert(CrossReturnType::RowsAtCompileTime==3 && "the matrix must have exactly 3 rows");
res.row(0) = _expression().row(1) * other.coeff(2) - _expression().row(2) * other.coeff(1);
res.row(1) = _expression().row(2) * other.coeff(0) - _expression().row(0) * other.coeff(2);
res.row(2) = _expression().row(0) * other.coeff(1) - _expression().row(1) * other.coeff(0);
res.row(0) = (_expression().row(1) * other.coeff(2) - _expression().row(2) * other.coeff(1)).conjugate();
res.row(1) = (_expression().row(2) * other.coeff(0) - _expression().row(0) * other.coeff(2)).conjugate();
res.row(2) = (_expression().row(0) * other.coeff(1) - _expression().row(1) * other.coeff(0)).conjugate();
}
else
{
eigen_assert(CrossReturnType::ColsAtCompileTime==3 && "the matrix must have exactly 3 columns");
res.col(0) = _expression().col(1) * other.coeff(2) - _expression().col(2) * other.coeff(1);
res.col(1) = _expression().col(2) * other.coeff(0) - _expression().col(0) * other.coeff(2);
res.col(2) = _expression().col(0) * other.coeff(1) - _expression().col(1) * other.coeff(0);
res.col(0) = (_expression().col(1) * other.coeff(2) - _expression().col(2) * other.coeff(1)).conjugate();
res.col(1) = (_expression().col(2) * other.coeff(0) - _expression().col(0) * other.coeff(2)).conjugate();
res.col(2) = (_expression().col(0) * other.coeff(1) - _expression().col(1) * other.coeff(0)).conjugate();
}
return res;
}