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11 #ifndef EIGEN_ORTHOMETHODS_H
12 #define EIGEN_ORTHOMETHODS_H
27 template<
typename Derived>
28 template<
typename OtherDerived>
29 #ifndef EIGEN_PARSED_BY_DOXYGEN
45 numext::conj(lhs.coeff(1) * rhs.coeff(2) - lhs.coeff(2) * rhs.coeff(1)),
46 numext::conj(lhs.coeff(2) * rhs.coeff(0) - lhs.coeff(0) * rhs.coeff(2)),
47 numext::conj(lhs.coeff(0) * rhs.coeff(1) - lhs.coeff(1) * rhs.coeff(0))
53 template<
int Arch,
typename VectorLhs,
typename VectorRhs,
55 bool Vectorizable = bool((VectorLhs::Flags&VectorRhs::Flags)&
PacketAccessBit)>
58 run(
const VectorLhs& lhs,
const VectorRhs& rhs)
61 numext::conj(lhs.coeff(1) * rhs.coeff(2) - lhs.coeff(2) * rhs.coeff(1)),
62 numext::conj(lhs.coeff(2) * rhs.coeff(0) - lhs.coeff(0) * rhs.coeff(2)),
63 numext::conj(lhs.coeff(0) * rhs.coeff(1) - lhs.coeff(1) * rhs.coeff(0)),
80 template<
typename Derived>
81 template<
typename OtherDerived>
90 DerivedNested lhs(derived());
91 OtherDerivedNested rhs(
other.derived());
107 template<
typename ExpressionType,
int Direction>
108 template<
typename OtherDerived>
115 YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
123 eigen_assert(CrossReturnType::RowsAtCompileTime==3 &&
"the matrix must have exactly 3 rows");
130 eigen_assert(CrossReturnType::ColsAtCompileTime==3 &&
"the matrix must have exactly 3 columns");
140 template<
typename Derived,
int Size = Derived::SizeAtCompileTime>
150 VectorType perp = VectorType::Zero(src.size());
153 src.cwiseAbs().maxCoeff(&
maxi);
164 template<
typename Derived>
187 perp.coeffRef(2) = 0;
196 perp.coeffRef(0) = 0;
205 template<
typename Derived>
225 template<
typename Derived>
235 #endif // EIGEN_ORTHOMETHODS_H
const EIGEN_DEVICE_FUNC CrossReturnType cross(const MatrixBase< OtherDerived > &other) const
#define EIGEN_DEVICE_FUNC
Namespace containing all symbols from the Eigen library.
plain_matrix_type< Derived >::type VectorType
static EIGEN_DEVICE_FUNC internal::plain_matrix_type< VectorLhs >::type run(const VectorLhs &lhs, const VectorRhs &rhs)
#define EIGEN_STATIC_ASSERT_VECTOR_ONLY(TYPE)
cout<< "Here is the matrix m:"<< endl<< m<< endl;Matrix< ptrdiff_t, 3, 1 > res
EIGEN_DEVICE_FUNC bool isMuchSmallerThan(const Scalar &x, const OtherScalar &y, const typename NumTraits< Scalar >::Real &precision=NumTraits< Scalar >::dummy_precision())
static EIGEN_DEVICE_FUNC VectorType run(const Derived &src)
EIGEN_DEVICE_FUNC cross_product_return_type< OtherDerived >::type cross(const MatrixBase< OtherDerived > &other) const
const unsigned int PacketAccessBit
traits< Derived >::Scalar Scalar
EIGEN_DEVICE_FUNC PlainObject cross3(const MatrixBase< OtherDerived > &other) const
plain_matrix_type< Derived >::type VectorType
NumTraits< Scalar >::Real RealScalar
#define EIGEN_STRONG_INLINE
AnnoyingScalar conj(const AnnoyingScalar &x)
static EIGEN_DEVICE_FUNC VectorType run(const Derived &src)
#define EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(TYPE, SIZE)
Base::PlainObject PlainObject
EIGEN_DEVICE_FUNC ConjugateReturnType conjugate() const
#define EIGEN_STATIC_ASSERT(CONDITION, MSG)
Matrix< Scalar, 2, 1 > Vector2
traits< Derived >::Scalar Scalar
plain_matrix_type< Derived >::type VectorType
The matrix class, also used for vectors and row-vectors.
NumTraits< Scalar >::Real RealScalar
EIGEN_DEVICE_FUNC EIGEN_ALWAYS_INLINE T maxi(const T &x, const T &y)
Base class for all dense matrices, vectors, and expressions.
ExpressionType::PlainObject CrossReturnType
Holds information about the various numeric (i.e. scalar) types allowed by Eigen.
static EIGEN_DEVICE_FUNC VectorType run(const Derived &src)
EIGEN_DEFAULT_DENSE_INDEX_TYPE Index
The Index type as used for the API.
EIGEN_DEVICE_FUNC PlainObject unitOrthogonal(void) const
gtsam
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autogenerated on Fri Nov 1 2024 03:33:52