raisim::CrossProduct
class · #include <raisim/math/Expression.hpp>
Inherits: raisim::MatExpr< CrossProduct< T1, T2 > >
cpp
template <class T1, class T2>
class CrossProductLazy 3D cross product u x v of two 3x1 expressions, returned by cross() on a 3D vector. It holds references to its operands and must not outlive them.
Constructors & destructor
CrossProduct
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explicit CrossProduct(T1 const &u, T2 const &v)Parameters
| Parameter | Description |
|---|---|
u (in) | left operand (3x1, held by reference) |
v (in) | right operand (3x1, held by reference) |
Public member functions
operator()
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double operator()(size_t i, size_t j) constParameters
| Parameter | Description |
|---|---|
i (in) | row index |
j (in) | ignored |
Returns component i of the cross product.
cpp
double operator()(size_t i) constParameters
| Parameter | Description |
|---|---|
i (in) | component index |
Returns component i of the cross product.
Static member functions
size static
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static constexpr size_t size()Returns 3.
cols static
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static constexpr size_t cols()Returns 1.
rows static
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static constexpr size_t rows()Returns 3.
Public attributes
_u
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const T1 &_uLeft operand.
_v
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const T2 &_vRight operand.
Inherited members
From raisim::MatExpr: SelfType