inline void makeCoordinateSystem(Eigen::MatrixBase<Derived>& v1, Eigen::MatrixBase<DerivedOther1>& v2, Eigen::MatrixBase<DerivedOther2>& v3) { EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Derived, 3); EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(DerivedOther1, 3); EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(DerivedOther2, 3); /*ASSERTMSG( v1.rows() == 3 && v1.cols()==1 && v2.rows() == 3 && v2.cols() == 1 && v3.rows() == 3 && v3.cols() == 1 , "IN: "<< v1.rows()<<","<<v1.cols()<<" OUT: "<< v2.rows()<<","<<v2.cols()<<"/"<<v3.rows()<<","<<v3.cols() );*/ typedef typename Derived::Scalar PREC; using std::abs; using std::sqrt; v1.normalize(); if (abs(v1(0)) > abs(v1(2))) { PREC invLen = 1.0 / sqrt(v1(0) * v1(0) + v1(2) * v1(2)); v2 = typename MyMatrix<double>::Vector3(-v1(2) * invLen, 0, v1(0) * invLen); } else { PREC invLen = 1.0 / sqrt(v1(1) * v1(1) + v1(2) * v1(2)); v2 = typename MyMatrix<double>::Vector3(0, v1(2) * invLen, -v1(1) * invLen); } v3 = v1.cross(v2); v2.normalize(); v3.normalize(); };