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MatrixBaseAddons.h
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2 // Copyright (c) 2009, Markus Rickert
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29 
30 #ifndef _RL_MATH_MATRIXBASEADDONS_H_
31 #define _RL_MATH_MATRIXBASEADDONS_H_
32 
33 Matrix< Scalar, 3, 1 >
34 cross3() const
35 {
36  EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Derived, 3, 3)
37  Matrix< Scalar, 3, 1 > res;
38  res.x() = (derived()(2, 1) - derived()(1, 2)) / 2;
39  res.y() = (derived()(0, 2) - derived()(2, 0)) / 2;
40  res.z() = (derived()(1, 0) - derived()(0, 1)) / 2;
41  return res;
42 }
43 
44 Matrix< Scalar, 3, 3 >
45 cross33() const
46 {
47  EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Derived, 3)
48  Matrix< Scalar, 3, 3 > res;
49  res(0, 0) = 0;
50  res(0, 1) = -derived().z();
51  res(0, 2) = derived().y();
52  res(1, 0) = derived().z();
53  res(1, 1) = 0;
54  res(1, 2) = -derived().x();
55  res(2, 0) = -derived().y();
56  res(2, 1) = derived().x();
57  res(2, 2) = 0;
58  return res;
59 }
60 
61 Matrix< Scalar, 6, 1 >
62 voigt6() const
63 {
64  EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Derived, 3, 3)
65  Matrix< Scalar, 6, 1 > res;
66  res(0) = derived()(0, 0);
67  res(1) = derived()(1, 1);
68  res(2) = derived()(2, 2);
69  res(3) = (derived()(1, 2) + derived()(2, 1)) / 2;
70  res(4) = (derived()(0, 2) + derived()(2, 0)) / 2;
71  res(5) = (derived()(0, 1) + derived()(1, 0)) / 2;
72  return res;
73 }
74 
75 Matrix< Scalar, 3, 3 >
76 voigt33() const
77 {
78  EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Derived, 6)
79  Matrix< Scalar, 3, 3 > res;
80  res(0, 0) = derived()(0);
81  res(0, 1) = derived()(5);
82  res(0, 2) = derived()(4);
83  res(1, 0) = derived()(5);
84  res(1, 1) = derived()(1);
85  res(1, 2) = derived()(3);
86  res(2, 0) = derived()(4);
87  res(2, 1) = derived()(3);
88  res(2, 2) = derived()(2);
89  return res;
90 }
91 
92 #endif // _RL_MATH_MATRIXBASEADDONS_H_