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47 lines
2.0 KiB
C++
47 lines
2.0 KiB
C++
// This file is part of Eigen, a lightweight C++ template library
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// for linear algebra. Eigen itself is part of the KDE project.
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//
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// Copyright (C) 2008 Gael Guennebaud <g.gael@free.fr>
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//
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// Eigen is free software; you can redistribute it and/or
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// modify it under the terms of the GNU Lesser General Public
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// License as published by the Free Software Foundation; either
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// version 3 of the License, or (at your option) any later version.
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//
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// Alternatively, you can redistribute it and/or
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// modify it under the terms of the GNU General Public License as
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// published by the Free Software Foundation; either version 2 of
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// the License, or (at your option) any later version.
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//
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// Eigen is distributed in the hope that it will be useful, but WITHOUT ANY
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// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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// FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License or the
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// GNU General Public License for more details.
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//
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// You should have received a copy of the GNU Lesser General Public
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// License and a copy of the GNU General Public License along with
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// Eigen. If not, see <http://www.gnu.org/licenses/>.
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#ifndef EIGEN_CROSS_H
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#define EIGEN_CROSS_H
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/** \geometry_module
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* \returns the cross product of \c *this and \a other */
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template<typename Derived>
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template<typename OtherDerived>
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inline typename ei_eval<Derived>::type
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MatrixBase<Derived>::cross(const MatrixBase<OtherDerived>& other) const
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{
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// Note that there is no need for an expression here since the compiler
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// optimize such a small temporary very well (even within a complex expression)
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const typename ei_nested<Derived,2>::type lhs(derived());
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const typename ei_nested<OtherDerived,2>::type rhs(other.derived());
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return typename ei_eval<Derived>::type(
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lhs.coeff(1) * rhs.coeff(2) - lhs.coeff(2) * rhs.coeff(1),
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lhs.coeff(2) * rhs.coeff(0) - lhs.coeff(0) * rhs.coeff(2),
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lhs.coeff(0) * rhs.coeff(1) - lhs.coeff(1) * rhs.coeff(0)
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);
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}
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#endif // EIGEN_CROSS_H
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