1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
|
// SPDX-License-Identifier: Apache-2.0
//
// Copyright 2008-2016 Conrad Sanderson (http://conradsanderson.id.au)
// Copyright 2008-2016 National ICT Australia (NICTA)
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
// ------------------------------------------------------------------------
//! \addtogroup glue_cross
//! @{
template<typename T1, typename T2>
inline
void
glue_cross::apply(Mat<typename T1::elem_type>& out, const Glue<T1, T2, glue_cross>& X)
{
arma_extra_debug_sigprint();
typedef typename T1::elem_type eT;
const Proxy<T1> PA(X.A);
const Proxy<T2> PB(X.B);
arma_debug_check( ((PA.get_n_elem() != 3) || (PB.get_n_elem() != 3)), "cross(): each vector must have 3 elements" );
out.set_size(PA.get_n_rows(), PA.get_n_cols());
eT* out_mem = out.memptr();
if( (Proxy<T1>::use_at == false) && (Proxy<T2>::use_at == false) )
{
typename Proxy<T1>::ea_type A = PA.get_ea();
typename Proxy<T2>::ea_type B = PB.get_ea();
const eT ax = A[0];
const eT ay = A[1];
const eT az = A[2];
const eT bx = B[0];
const eT by = B[1];
const eT bz = B[2];
out_mem[0] = ay*bz - az*by;
out_mem[1] = az*bx - ax*bz;
out_mem[2] = ax*by - ay*bx;
}
else
{
const bool PA_is_col = Proxy<T1>::is_col ? true : (PA.get_n_cols() == 1);
const bool PB_is_col = Proxy<T2>::is_col ? true : (PB.get_n_cols() == 1);
const eT ax = PA.at(0,0);
const eT ay = PA_is_col ? PA.at(1,0) : PA.at(0,1);
const eT az = PA_is_col ? PA.at(2,0) : PA.at(0,2);
const eT bx = PB.at(0,0);
const eT by = PB_is_col ? PB.at(1,0) : PB.at(0,1);
const eT bz = PB_is_col ? PB.at(2,0) : PB.at(0,2);
out_mem[0] = ay*bz - az*by;
out_mem[1] = az*bx - ax*bz;
out_mem[2] = ax*by - ay*bx;
}
}
//! @}
|
