Expression<Vector>::Ptr UnitX_Rotation::derivativeExpression(int i) { int nr = getDep<Rotation>(i,argument); if (nr==1) { return Constant<Vector>(Vector::Zero()); } else { return argument->derivativeExpression(i) * unit_x( argument ); } }
TEST(TVector3Test, CrossProductCheck) { TVector3<float> unit_x(1,0,0); TVector3<float> unit_y(0,1,0); TVector3<float> unit_z(0,0,1); EXPECT_EQ(unit_z.Cross(unit_x), unit_y); }