diff options
Diffstat (limited to 'Eigen/src/Geometry/OrthoMethods.h')
| -rw-r--r-- | Eigen/src/Geometry/OrthoMethods.h | 23 |
1 files changed, 13 insertions, 10 deletions
diff --git a/Eigen/src/Geometry/OrthoMethods.h b/Eigen/src/Geometry/OrthoMethods.h index 26be3ee5b..a245c79d3 100644 --- a/Eigen/src/Geometry/OrthoMethods.h +++ b/Eigen/src/Geometry/OrthoMethods.h @@ -30,8 +30,8 @@ MatrixBase<Derived>::cross(const MatrixBase<OtherDerived>& other) const // Note that there is no need for an expression here since the compiler // optimize such a small temporary very well (even within a complex expression) - typename internal::nested<Derived,2>::type lhs(derived()); - typename internal::nested<OtherDerived,2>::type rhs(other.derived()); + typename internal::nested_eval<Derived,2>::type lhs(derived()); + typename internal::nested_eval<OtherDerived,2>::type rhs(other.derived()); return typename cross_product_return_type<OtherDerived>::type( numext::conj(lhs.coeff(1) * rhs.coeff(2) - lhs.coeff(2) * rhs.coeff(1)), numext::conj(lhs.coeff(2) * rhs.coeff(0) - lhs.coeff(0) * rhs.coeff(2)), @@ -76,8 +76,8 @@ MatrixBase<Derived>::cross3(const MatrixBase<OtherDerived>& other) const EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Derived,4) EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,4) - typedef typename internal::nested<Derived,2>::type DerivedNested; - typedef typename internal::nested<OtherDerived,2>::type OtherDerivedNested; + typedef typename internal::nested_eval<Derived,2>::type DerivedNested; + typedef typename internal::nested_eval<OtherDerived,2>::type OtherDerivedNested; DerivedNested lhs(derived()); OtherDerivedNested rhs(other.derived()); @@ -103,21 +103,24 @@ VectorwiseOp<ExpressionType,Direction>::cross(const MatrixBase<OtherDerived>& ot EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,3) EIGEN_STATIC_ASSERT((internal::is_same<Scalar, typename OtherDerived::Scalar>::value), YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY) + + typename internal::nested_eval<ExpressionType,2>::type mat(_expression()); + typename internal::nested_eval<OtherDerived,2>::type vec(other.derived()); CrossReturnType res(_expression().rows(),_expression().cols()); 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)).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(); + res.row(0) = (mat.row(1) * vec.coeff(2) - mat.row(2) * vec.coeff(1)).conjugate(); + res.row(1) = (mat.row(2) * vec.coeff(0) - mat.row(0) * vec.coeff(2)).conjugate(); + res.row(2) = (mat.row(0) * vec.coeff(1) - mat.row(1) * vec.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)).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(); + res.col(0) = (mat.col(1) * vec.coeff(2) - mat.col(2) * vec.coeff(1)).conjugate(); + res.col(1) = (mat.col(2) * vec.coeff(0) - mat.col(0) * vec.coeff(2)).conjugate(); + res.col(2) = (mat.col(0) * vec.coeff(1) - mat.col(1) * vec.coeff(0)).conjugate(); } return res; } |