MatrixBaseAddons.h

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//
// Copyright (c) 2009, Markus Rickert
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//
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// modification, are permitted provided that the following conditions are met:
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#ifndef RL_MATH_MATRIXBASEADDONS_H
#define RL_MATH_MATRIXBASEADDONS_H
 
Matrix<Scalar, 3, 1>
cross3() const
{
    EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Derived, 3, 3)
    Matrix<Scalar, 3, 1> res;
    res.x() = (this->derived()(2, 1) - this->derived()(1, 2)) / Scalar(2);
    res.y() = (this->derived()(0, 2) - this->derived()(2, 0)) / Scalar(2);
    res.z() = (this->derived()(1, 0) - this->derived()(0, 1)) / Scalar(2);
    return res;
}
 
Matrix<Scalar, 3, 3>
cross33() const
{
    EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Derived, 3)
    Matrix<Scalar, 3, 3> res;
    res(0, 0) = 0;
    res(0, 1) = -this->derived().z();
    res(0, 2) = this->derived().y();
    res(1, 0) = this->derived().z();
    res(1, 1) = 0;
    res(1, 2) = -this->derived().x();
    res(2, 0) = -this->derived().y();
    res(2, 1) = this->derived().x();
    res(2, 2) = 0;
    return res;
}
 
Matrix<Scalar, 6, 1>
voigt6() const
{
    EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(Derived, 3, 3)
    Matrix<Scalar, 6, 1> res;
    res(0) = this->derived()(0, 0);
    res(1) = this->derived()(1, 1);
    res(2) = this->derived()(2, 2);
    res(3) = (this->derived()(1, 2) + this->derived()(2, 1)) / Scalar(2);
    res(4) = (this->derived()(0, 2) + this->derived()(2, 0)) / Scalar(2);
    res(5) = (this->derived()(0, 1) + this->derived()(1, 0)) / Scalar(2);
    return res;
}
 
Matrix<Scalar, 3, 3>
voigt33() const
{
    EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Derived, 6)
    Matrix<Scalar, 3, 3> res;
    res(0, 0) = this->derived()(0);
    res(0, 1) = this->derived()(5);
    res(0, 2) = this->derived()(4);
    res(1, 0) = this->derived()(5);
    res(1, 1) = this->derived()(1);
    res(1, 2) = this->derived()(3);
    res(2, 0) = this->derived()(4);
    res(2, 1) = this->derived()(3);
    res(2, 2) = this->derived()(2);
    return res;
}
 
#endif // RL_MATH_MATRIXBASEADDONS_H