From 986f301233469e7dcf6015c27e383b2777d70819 Mon Sep 17 00:00:00 2001
From: Benoit Jacob <jacob.benoit.1@gmail.com>
Date: Mon, 5 Jan 2009 14:26:34 +0000
Subject: [PATCH] *add PartialRedux::cross() with unit test *add
 transform-from-matrices test *undo an unwanted change in Matrix

---
 Eigen/src/Array/PartialRedux.h | 28 ++++++++++++++++++++++++++++
 Eigen/src/Core/Matrix.h        |  2 +-
 test/geometry.cpp              | 19 +++++++++++++++++++
 3 files changed, 48 insertions(+), 1 deletion(-)

diff --git a/Eigen/src/Array/PartialRedux.h b/Eigen/src/Array/PartialRedux.h
index 612d9c250..6ce72291e 100644
--- a/Eigen/src/Array/PartialRedux.h
+++ b/Eigen/src/Array/PartialRedux.h
@@ -172,6 +172,8 @@ template<typename ExpressionType, int Direction> class PartialRedux
                               > Type;
     };
 
+    typedef typename ExpressionType::PlainMatrixType CrossReturnType;
+
     inline PartialRedux(const ExpressionType& matrix) : m_matrix(matrix) {}
 
     /** \internal */
@@ -245,6 +247,32 @@ template<typename ExpressionType, int Direction> class PartialRedux
     const typename ReturnType<ei_member_any>::Type any() const
     { return _expression(); }
 
+    /** \returns a 3x3 matrix expression of the cross product
+      * of each column or row of the referenced expression with the \a other vector.
+      *
+      * \geometry_module
+      *
+      * \sa MatrixBase::cross() */
+    template<typename OtherDerived>
+    const CrossReturnType cross(const MatrixBase<OtherDerived>& other) const
+    {
+      EIGEN_STATIC_ASSERT_MATRIX_SPECIFIC_SIZE(CrossReturnType,3,3)
+      EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,3)
+      EIGEN_STATIC_ASSERT((ei_is_same_type<Scalar, typename OtherDerived::Scalar>::ret),
+        YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
+
+      if(Direction==Vertical)
+        return (CrossReturnType()
+                                 << _expression().col(0).cross(other),
+                                    _expression().col(1).cross(other),
+                                    _expression().col(2).cross(other)).finished();
+      else
+        return (CrossReturnType() 
+                                 << _expression().row(0).cross(other),
+                                    _expression().row(1).cross(other),
+                                    _expression().row(2).cross(other)).finished();
+    }
+
   protected:
     ExpressionTypeNested m_matrix;
 };
diff --git a/Eigen/src/Core/Matrix.h b/Eigen/src/Core/Matrix.h
index bb2bc2e2a..4851036e4 100644
--- a/Eigen/src/Core/Matrix.h
+++ b/Eigen/src/Core/Matrix.h
@@ -119,7 +119,7 @@ struct ei_traits<Matrix<_Scalar, _Rows, _Cols, _Options, _MaxRows, _MaxCols> >
 
 template<typename T, int Rows, int Cols, int Options,
          bool NeedsToAlign = ((Options&Matrix_AutoAlign) == Matrix_AutoAlign) && Rows!=Dynamic && Cols!=Dynamic && ((sizeof(T)*Rows*Cols)%16==0)>
-struct ei_matrix_with_aligned_operator_new : public WithAlignedOperatorNew {};
+struct ei_matrix_with_aligned_operator_new : WithAlignedOperatorNew {};
 
 template<typename T, int Rows, int Cols, int Options>
 struct ei_matrix_with_aligned_operator_new<T, Rows, Cols, Options, false> {};
diff --git a/test/geometry.cpp b/test/geometry.cpp
index 8c0d3b688..7f978f766 100644
--- a/test/geometry.cpp
+++ b/test/geometry.cpp
@@ -181,6 +181,13 @@ template<typename Scalar> void geometry(void)
 
   // More transform constructors, operator=, operator*=
 
+  Matrix3 mat3 = Matrix3::Random();
+  Matrix4 mat4;
+  mat4 << mat3 , Vector3::Zero() , Vector4::Zero().transpose();
+  Transform3 tmat3(mat3), tmat4(mat4);
+  tmat4.matrix()(3,3) = Scalar(1);
+  VERIFY_IS_APPROX(tmat3.matrix(), tmat4.matrix());
+
   Scalar a3 = ei_random<Scalar>(-M_PI, M_PI);
   Vector3 v3 = Vector3::Random().normalized();
   AngleAxisx aa3(a3, v3);
@@ -388,6 +395,18 @@ template<typename Scalar> void geometry(void)
   VERIFY_EULER(2,0,2, Z,X,Z);
   VERIFY_EULER(2,1,0, Z,Y,X);
   VERIFY_EULER(2,1,2, Z,Y,Z);
+
+  // colwise/rowwise cross product
+  mat3.setRandom();
+  Vector3 vec3 = Vector3::Random();
+  Matrix3 mcross;
+  int i = ei_random<int>(0,2);
+  mcross = mat3.colwise().cross(vec3);
+  VERIFY_IS_APPROX(mcross.col(i), mat3.col(i).cross(vec3));
+  mcross = mat3.rowwise().cross(vec3);
+  VERIFY_IS_APPROX(mcross.row(i), mat3.row(i).cross(vec3));
+
+
 }
 
 void test_geometry()