cross_implementation.h

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#ifndef _CLASS_CROSSIMP
#define _CLASS_CROSSIMP
 
#include "ndcurves/fwd.h"
 
namespace ndcurves {
inline Eigen::Vector3d cross(const Eigen::VectorXd& a,
                             const Eigen::VectorXd& b) {
  Eigen::Vector3d c;
  c << a[1] * b[2] - a[2] * b[1], a[2] * b[0] - a[0] * b[2],
      a[0] * b[1] - a[1] * b[0];
  return c;
}
 
inline Eigen::Vector3d cross(const Eigen::Vector3d& a,
                             const Eigen::Vector3d& b) {
  return a.cross(b);
}
 
inline Eigen::Vector3f cross(const Eigen::Vector3f& a,
                             const Eigen::Vector3f& b) {
  return a.cross(b);
}
 
template <typename N, bool S>
linear_variable<N, S> cross(const linear_variable<N, S>& a,
                            const linear_variable<N, S>& b) {
  return a.cross(b);
}
}  // namespace ndcurves
#endif  //_CLASS_CROSSIMP