11 #include <Eigen/Geometry>
28 v1 = Vector3::Random(),
29 v2 = Vector3::Random();
38 mat3 <<
v0.normalized(),
39 (
v0.cross(
v1)).normalized(),
40 (
v0.cross(
v1).cross(
v0)).normalized();
51 int i = internal::random<int>(0,2);
52 mcross = mat3.colwise().cross(
vec3);
61 mcross = mat3.rowwise().cross(
vec3);
65 Vector4 v40 = Vector4::Random(),
66 v41 = Vector4::Random(),
67 v42 = Vector4::Random();
68 v40.w() = v41.w() = v42.w() = 0;
69 v42.template head<3>() = v40.template head<3>().cross(v41.template head<3>());
75 RealVector3 rv1 = RealVector3::Random();
97 v0.tail(
size-2).setRandom();
105 int i = internal::random<int>(0,
size-1);
107 Matrix3N mat3N(3,
size), mcross3N(3,
size);
109 mcross3N = mat3N.colwise().cross(
vec3);
112 MatrixN3 matN3(
size,3), mcrossN3(
size,3);
114 mcrossN3 = matN3.rowwise().cross(
vec3);