core/vnl/vnl_cross.h

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#ifndef vnl_cross_h_
#define vnl_cross_h_
//:
// \file
// Implements cross product for vectors.
// \author Amitha Perera
// \verbatim
//  Modifications
//   Oct.2002 - Amitha Perera - moved from vnl_vector.h
// \endverbatim

#include <vnl/vnl_vector.h>
#include <vnl/vnl_vector_fixed.h>
#include <vcl_cassert.h>

//: Compute the 2-D cross product
// \relatesalso vnl_vector
template<class T>
inline T
vnl_cross_2d( const vnl_vector<T>& v1, const vnl_vector<T>& v2 )
{
  assert( v1.size() >= 2 && v2.size() >= 2 );
  return v1[0] * v2[1] - v1[1] * v2[0];
}

//: Compute the 2-D cross product
// \relatesalso vnl_vector_fixed
template<class T>
inline T
vnl_cross_2d( const vnl_vector_fixed<T,2>& v1, const vnl_vector_fixed<T,2>& v2 )
{
  return v1[0] * v2[1] - v1[1] * v2[0];
}

//: Compute the 2-D cross product
// \relatesalso vnl_vector
// \relatesalso vnl_vector_fixed
template<class T>
inline T
vnl_cross_2d(vnl_vector_fixed<T,2> const& v1, vnl_vector<T> const& v2)
{
  assert( v2.size() == 2 );
  return v1[0] * v2[1] - v1[1] * v2[0];
}

//: Compute the 2-D cross product
// \relatesalso vnl_vector
// \relatesalso vnl_vector_fixed
template<class T>
inline T
vnl_cross_2d(vnl_vector<T> const& v1, vnl_vector_fixed<T,2> const& v2)
{
  assert( v1.size() == 2 );
  return v1[0] * v2[1] - v1[1] * v2[0];
}

//: Compute the 3-D cross product
// \relatesalso vnl_vector
template<class T>
inline vnl_vector<T>
vnl_cross_3d( const vnl_vector<T>& v1, const vnl_vector<T>& v2 )
{
  assert( v1.size() == 3 && v2.size() == 3 );
  vnl_vector<T> result(3);
  result[0] = v1[1] * v2[2] - v1[2] * v2[1]; // work for both col/row
  result[1] = v1[2] * v2[0] - v1[0] * v2[2]; // representation
  result[2] = v1[0] * v2[1] - v1[1] * v2[0];
  return result;
}

//: Compute the 3-D cross product
// \relatesalso vnl_vector_fixed
template<class T>
inline vnl_vector_fixed<T,3>
vnl_cross_3d( const vnl_vector_fixed<T,3>& v1, const vnl_vector_fixed<T,3>& v2 )
{
  vnl_vector_fixed<T,3> result;
  result[0] = v1[1] * v2[2] - v1[2] * v2[1]; // work for both col/row
  result[1] = v1[2] * v2[0] - v1[0] * v2[2]; // representation
  result[2] = v1[0] * v2[1] - v1[1] * v2[0];
  return result;
}

//: Compute the 3-D cross product
// \relatesalso vnl_vector
// \relatesalso vnl_vector_fixed
template<class T,unsigned int n>
inline vnl_vector_fixed<T,n>
vnl_cross_3d( const vnl_vector_fixed<T,n>& a, const vnl_vector<T>& b )
{
  return vnl_cross_3d(a.as_ref(), b);
}

//: Compute the 3-D cross product
// \relatesalso vnl_vector
// \relatesalso vnl_vector_fixed
template<class T,unsigned int n>
inline vnl_vector_fixed<T,n>
vnl_cross_3d( const vnl_vector<T>& a, const vnl_vector_fixed<T,n>& b )
{
  return vnl_cross_3d(a, b.as_ref());
}

#endif // vnl_cross_h_