tomoto 0.1.0

data/vendor/eigen/Eigen/src/Geometry/Hyperplane.h

@@ -0,0 +1,282 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_HYPERPLANE_H
+#define EIGEN_HYPERPLANE_H
+
+namespace Eigen { 
+
+/** \geometry_module \ingroup Geometry_Module
+  *
+  * \class Hyperplane
+  *
+  * \brief A hyperplane
+  *
+  * A hyperplane is an affine subspace of dimension n-1 in a space of dimension n.
+  * For example, a hyperplane in a plane is a line; a hyperplane in 3-space is a plane.
+  *
+  * \tparam _Scalar the scalar type, i.e., the type of the coefficients
+  * \tparam _AmbientDim the dimension of the ambient space, can be a compile time value or Dynamic.
+  *             Notice that the dimension of the hyperplane is _AmbientDim-1.
+  *
+  * This class represents an hyperplane as the zero set of the implicit equation
+  * \f$ n \cdot x + d = 0 \f$ where \f$ n \f$ is a unit normal vector of the plane (linear part)
+  * and \f$ d \f$ is the distance (offset) to the origin.
+  */
+template <typename _Scalar, int _AmbientDim, int _Options>
+class Hyperplane
+{
+public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim==Dynamic ? Dynamic : _AmbientDim+1)
+  enum {
+    AmbientDimAtCompileTime = _AmbientDim,
+    Options = _Options
+  };
+  typedef _Scalar Scalar;
+  typedef typename NumTraits<Scalar>::Real RealScalar;
+  typedef Eigen::Index Index; ///< \deprecated since Eigen 3.3
+  typedef Matrix<Scalar,AmbientDimAtCompileTime,1> VectorType;
+  typedef Matrix<Scalar,Index(AmbientDimAtCompileTime)==Dynamic
+                        ? Dynamic
+                        : Index(AmbientDimAtCompileTime)+1,1,Options> Coefficients;
+  typedef Block<Coefficients,AmbientDimAtCompileTime,1> NormalReturnType;
+  typedef const Block<const Coefficients,AmbientDimAtCompileTime,1> ConstNormalReturnType;
+
+  /** Default constructor without initialization */
+  EIGEN_DEVICE_FUNC inline Hyperplane() {}
+  
+  template<int OtherOptions>
+  EIGEN_DEVICE_FUNC Hyperplane(const Hyperplane<Scalar,AmbientDimAtCompileTime,OtherOptions>& other)
+   : m_coeffs(other.coeffs())
+  {}
+
+  /** Constructs a dynamic-size hyperplane with \a _dim the dimension
+    * of the ambient space */
+  EIGEN_DEVICE_FUNC inline explicit Hyperplane(Index _dim) : m_coeffs(_dim+1) {}
+
+  /** Construct a plane from its normal \a n and a point \a e onto the plane.
+    * \warning the vector normal is assumed to be normalized.
+    */
+  EIGEN_DEVICE_FUNC inline Hyperplane(const VectorType& n, const VectorType& e)
+    : m_coeffs(n.size()+1)
+  {
+    normal() = n;
+    offset() = -n.dot(e);
+  }
+
+  /** Constructs a plane from its normal \a n and distance to the origin \a d
+    * such that the algebraic equation of the plane is \f$ n \cdot x + d = 0 \f$.
+    * \warning the vector normal is assumed to be normalized.
+    */
+  EIGEN_DEVICE_FUNC inline Hyperplane(const VectorType& n, const Scalar& d)
+    : m_coeffs(n.size()+1)
+  {
+    normal() = n;
+    offset() = d;
+  }
+
+  /** Constructs a hyperplane passing through the two points. If the dimension of the ambient space
+    * is greater than 2, then there isn't uniqueness, so an arbitrary choice is made.
+    */
+  EIGEN_DEVICE_FUNC static inline Hyperplane Through(const VectorType& p0, const VectorType& p1)
+  {
+    Hyperplane result(p0.size());
+    result.normal() = (p1 - p0).unitOrthogonal();
+    result.offset() = -p0.dot(result.normal());
+    return result;
+  }
+
+  /** Constructs a hyperplane passing through the three points. The dimension of the ambient space
+    * is required to be exactly 3.
+    */
+  EIGEN_DEVICE_FUNC static inline Hyperplane Through(const VectorType& p0, const VectorType& p1, const VectorType& p2)
+  {
+    EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(VectorType, 3)
+    Hyperplane result(p0.size());
+    VectorType v0(p2 - p0), v1(p1 - p0);
+    result.normal() = v0.cross(v1);
+    RealScalar norm = result.normal().norm();
+    if(norm <= v0.norm() * v1.norm() * NumTraits<RealScalar>::epsilon())
+    {
+      Matrix<Scalar,2,3> m; m << v0.transpose(), v1.transpose();
+      JacobiSVD<Matrix<Scalar,2,3> > svd(m, ComputeFullV);
+      result.normal() = svd.matrixV().col(2);
+    }
+    else
+      result.normal() /= norm;
+    result.offset() = -p0.dot(result.normal());
+    return result;
+  }
+
+  /** Constructs a hyperplane passing through the parametrized line \a parametrized.
+    * If the dimension of the ambient space is greater than 2, then there isn't uniqueness,
+    * so an arbitrary choice is made.
+    */
+  // FIXME to be consitent with the rest this could be implemented as a static Through function ??
+  EIGEN_DEVICE_FUNC explicit Hyperplane(const ParametrizedLine<Scalar, AmbientDimAtCompileTime>& parametrized)
+  {
+    normal() = parametrized.direction().unitOrthogonal();
+    offset() = -parametrized.origin().dot(normal());
+  }
+
+  EIGEN_DEVICE_FUNC ~Hyperplane() {}
+
+  /** \returns the dimension in which the plane holds */
+  EIGEN_DEVICE_FUNC inline Index dim() const { return AmbientDimAtCompileTime==Dynamic ? m_coeffs.size()-1 : Index(AmbientDimAtCompileTime); }
+
+  /** normalizes \c *this */
+  EIGEN_DEVICE_FUNC void normalize(void)
+  {
+    m_coeffs /= normal().norm();
+  }
+
+  /** \returns the signed distance between the plane \c *this and a point \a p.
+    * \sa absDistance()
+    */
+  EIGEN_DEVICE_FUNC inline Scalar signedDistance(const VectorType& p) const { return normal().dot(p) + offset(); }
+
+  /** \returns the absolute distance between the plane \c *this and a point \a p.
+    * \sa signedDistance()
+    */
+  EIGEN_DEVICE_FUNC inline Scalar absDistance(const VectorType& p) const { return numext::abs(signedDistance(p)); }
+
+  /** \returns the projection of a point \a p onto the plane \c *this.
+    */
+  EIGEN_DEVICE_FUNC inline VectorType projection(const VectorType& p) const { return p - signedDistance(p) * normal(); }
+
+  /** \returns a constant reference to the unit normal vector of the plane, which corresponds
+    * to the linear part of the implicit equation.
+    */
+  EIGEN_DEVICE_FUNC inline ConstNormalReturnType normal() const { return ConstNormalReturnType(m_coeffs,0,0,dim(),1); }
+
+  /** \returns a non-constant reference to the unit normal vector of the plane, which corresponds
+    * to the linear part of the implicit equation.
+    */
+  EIGEN_DEVICE_FUNC inline NormalReturnType normal() { return NormalReturnType(m_coeffs,0,0,dim(),1); }
+
+  /** \returns the distance to the origin, which is also the "constant term" of the implicit equation
+    * \warning the vector normal is assumed to be normalized.
+    */
+  EIGEN_DEVICE_FUNC inline const Scalar& offset() const { return m_coeffs.coeff(dim()); }
+
+  /** \returns a non-constant reference to the distance to the origin, which is also the constant part
+    * of the implicit equation */
+  EIGEN_DEVICE_FUNC inline Scalar& offset() { return m_coeffs(dim()); }
+
+  /** \returns a constant reference to the coefficients c_i of the plane equation:
+    * \f$ c_0*x_0 + ... + c_{d-1}*x_{d-1} + c_d = 0 \f$
+    */
+  EIGEN_DEVICE_FUNC inline const Coefficients& coeffs() const { return m_coeffs; }
+
+  /** \returns a non-constant reference to the coefficients c_i of the plane equation:
+    * \f$ c_0*x_0 + ... + c_{d-1}*x_{d-1} + c_d = 0 \f$
+    */
+  EIGEN_DEVICE_FUNC inline Coefficients& coeffs() { return m_coeffs; }
+
+  /** \returns the intersection of *this with \a other.
+    *
+    * \warning The ambient space must be a plane, i.e. have dimension 2, so that \c *this and \a other are lines.
+    *
+    * \note If \a other is approximately parallel to *this, this method will return any point on *this.
+    */
+  EIGEN_DEVICE_FUNC VectorType intersection(const Hyperplane& other) const
+  {
+    EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(VectorType, 2)
+    Scalar det = coeffs().coeff(0) * other.coeffs().coeff(1) - coeffs().coeff(1) * other.coeffs().coeff(0);
+    // since the line equations ax+by=c are normalized with a^2+b^2=1, the following tests
+    // whether the two lines are approximately parallel.
+    if(internal::isMuchSmallerThan(det, Scalar(1)))
+    {   // special case where the two lines are approximately parallel. Pick any point on the first line.
+        if(numext::abs(coeffs().coeff(1))>numext::abs(coeffs().coeff(0)))
+            return VectorType(coeffs().coeff(1), -coeffs().coeff(2)/coeffs().coeff(1)-coeffs().coeff(0));
+        else
+            return VectorType(-coeffs().coeff(2)/coeffs().coeff(0)-coeffs().coeff(1), coeffs().coeff(0));
+    }
+    else
+    {   // general case
+        Scalar invdet = Scalar(1) / det;
+        return VectorType(invdet*(coeffs().coeff(1)*other.coeffs().coeff(2)-other.coeffs().coeff(1)*coeffs().coeff(2)),
+                          invdet*(other.coeffs().coeff(0)*coeffs().coeff(2)-coeffs().coeff(0)*other.coeffs().coeff(2)));
+    }
+  }
+
+  /** Applies the transformation matrix \a mat to \c *this and returns a reference to \c *this.
+    *
+    * \param mat the Dim x Dim transformation matrix
+    * \param traits specifies whether the matrix \a mat represents an #Isometry
+    *               or a more generic #Affine transformation. The default is #Affine.
+    */
+  template<typename XprType>
+  EIGEN_DEVICE_FUNC inline Hyperplane& transform(const MatrixBase<XprType>& mat, TransformTraits traits = Affine)
+  {
+    if (traits==Affine)
+    {
+      normal() = mat.inverse().transpose() * normal();
+      m_coeffs /= normal().norm();
+    }
+    else if (traits==Isometry)
+      normal() = mat * normal();
+    else
+    {
+      eigen_assert(0 && "invalid traits value in Hyperplane::transform()");
+    }
+    return *this;
+  }
+
+  /** Applies the transformation \a t to \c *this and returns a reference to \c *this.
+    *
+    * \param t the transformation of dimension Dim
+    * \param traits specifies whether the transformation \a t represents an #Isometry
+    *               or a more generic #Affine transformation. The default is #Affine.
+    *               Other kind of transformations are not supported.
+    */
+  template<int TrOptions>
+  EIGEN_DEVICE_FUNC inline Hyperplane& transform(const Transform<Scalar,AmbientDimAtCompileTime,Affine,TrOptions>& t,
+                                TransformTraits traits = Affine)
+  {
+    transform(t.linear(), traits);
+    offset() -= normal().dot(t.translation());
+    return *this;
+  }
+
+  /** \returns \c *this with scalar type casted to \a NewScalarType
+    *
+    * Note that if \a NewScalarType is equal to the current scalar type of \c *this
+    * then this function smartly returns a const reference to \c *this.
+    */
+  template<typename NewScalarType>
+  EIGEN_DEVICE_FUNC inline typename internal::cast_return_type<Hyperplane,
+           Hyperplane<NewScalarType,AmbientDimAtCompileTime,Options> >::type cast() const
+  {
+    return typename internal::cast_return_type<Hyperplane,
+                    Hyperplane<NewScalarType,AmbientDimAtCompileTime,Options> >::type(*this);
+  }
+
+  /** Copy constructor with scalar type conversion */
+  template<typename OtherScalarType,int OtherOptions>
+  EIGEN_DEVICE_FUNC inline explicit Hyperplane(const Hyperplane<OtherScalarType,AmbientDimAtCompileTime,OtherOptions>& other)
+  { m_coeffs = other.coeffs().template cast<Scalar>(); }
+
+  /** \returns \c true if \c *this is approximately equal to \a other, within the precision
+    * determined by \a prec.
+    *
+    * \sa MatrixBase::isApprox() */
+  template<int OtherOptions>
+  EIGEN_DEVICE_FUNC bool isApprox(const Hyperplane<Scalar,AmbientDimAtCompileTime,OtherOptions>& other, const typename NumTraits<Scalar>::Real& prec = NumTraits<Scalar>::dummy_precision()) const
+  { return m_coeffs.isApprox(other.m_coeffs, prec); }
+
+protected:
+
+  Coefficients m_coeffs;
+};
+
+} // end namespace Eigen
+
+#endif // EIGEN_HYPERPLANE_H

data/vendor/eigen/Eigen/src/Geometry/OrthoMethods.h

@@ -0,0 +1,234 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#ifndef EIGEN_ORTHOMETHODS_H
+#define EIGEN_ORTHOMETHODS_H
+
+namespace Eigen { 
+
+/** \geometry_module \ingroup Geometry_Module
+  *
+  * \returns the cross product of \c *this and \a other
+  *
+  * Here is a very good explanation of cross-product: http://xkcd.com/199/
+  * 
+  * With complex numbers, the cross product is implemented as
+  * \f$ (\mathbf{a}+i\mathbf{b}) \times (\mathbf{c}+i\mathbf{d}) = (\mathbf{a} \times \mathbf{c} - \mathbf{b} \times \mathbf{d}) - i(\mathbf{a} \times \mathbf{d} - \mathbf{b} \times \mathbf{c})\f$
+  * 
+  * \sa MatrixBase::cross3()
+  */
+template<typename Derived>
+template<typename OtherDerived>
+#ifndef EIGEN_PARSED_BY_DOXYGEN
+EIGEN_DEVICE_FUNC inline typename MatrixBase<Derived>::template cross_product_return_type<OtherDerived>::type
+#else
+inline typename MatrixBase<Derived>::PlainObject
+#endif
+MatrixBase<Derived>::cross(const MatrixBase<OtherDerived>& other) const
+{
+  EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Derived,3)
+  EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,3)
+
+  // Note that there is no need for an expression here since the compiler
+  // optimize such a small temporary very well (even within a complex expression)
+  typename internal::nested_eval<Derived,2>::type lhs(derived());
+  typename internal::nested_eval<OtherDerived,2>::type rhs(other.derived());
+  return typename cross_product_return_type<OtherDerived>::type(
+    numext::conj(lhs.coeff(1) * rhs.coeff(2) - lhs.coeff(2) * rhs.coeff(1)),
+    numext::conj(lhs.coeff(2) * rhs.coeff(0) - lhs.coeff(0) * rhs.coeff(2)),
+    numext::conj(lhs.coeff(0) * rhs.coeff(1) - lhs.coeff(1) * rhs.coeff(0))
+  );
+}
+
+namespace internal {
+
+template< int Arch,typename VectorLhs,typename VectorRhs,
+          typename Scalar = typename VectorLhs::Scalar,
+          bool Vectorizable = bool((VectorLhs::Flags&VectorRhs::Flags)&PacketAccessBit)>
+struct cross3_impl {
+  EIGEN_DEVICE_FUNC static inline typename internal::plain_matrix_type<VectorLhs>::type
+  run(const VectorLhs& lhs, const VectorRhs& rhs)
+  {
+    return typename internal::plain_matrix_type<VectorLhs>::type(
+      numext::conj(lhs.coeff(1) * rhs.coeff(2) - lhs.coeff(2) * rhs.coeff(1)),
+      numext::conj(lhs.coeff(2) * rhs.coeff(0) - lhs.coeff(0) * rhs.coeff(2)),
+      numext::conj(lhs.coeff(0) * rhs.coeff(1) - lhs.coeff(1) * rhs.coeff(0)),
+      0
+    );
+  }
+};
+
+}
+
+/** \geometry_module \ingroup Geometry_Module
+  *
+  * \returns the cross product of \c *this and \a other using only the x, y, and z coefficients
+  *
+  * The size of \c *this and \a other must be four. This function is especially useful
+  * when using 4D vectors instead of 3D ones to get advantage of SSE/AltiVec vectorization.
+  *
+  * \sa MatrixBase::cross()
+  */
+template<typename Derived>
+template<typename OtherDerived>
+EIGEN_DEVICE_FUNC inline typename MatrixBase<Derived>::PlainObject
+MatrixBase<Derived>::cross3(const MatrixBase<OtherDerived>& other) const
+{
+  EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(Derived,4)
+  EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,4)
+
+  typedef typename internal::nested_eval<Derived,2>::type DerivedNested;
+  typedef typename internal::nested_eval<OtherDerived,2>::type OtherDerivedNested;
+  DerivedNested lhs(derived());
+  OtherDerivedNested rhs(other.derived());
+
+  return internal::cross3_impl<Architecture::Target,
+                        typename internal::remove_all<DerivedNested>::type,
+                        typename internal::remove_all<OtherDerivedNested>::type>::run(lhs,rhs);
+}
+
+/** \geometry_module \ingroup Geometry_Module
+  *
+  * \returns a matrix expression of the cross product of each column or row
+  * of the referenced expression with the \a other vector.
+  *
+  * The referenced matrix must have one dimension equal to 3.
+  * The result matrix has the same dimensions than the referenced one.
+  *
+  * \sa MatrixBase::cross() */
+template<typename ExpressionType, int Direction>
+template<typename OtherDerived>
+EIGEN_DEVICE_FUNC 
+const typename VectorwiseOp<ExpressionType,Direction>::CrossReturnType
+VectorwiseOp<ExpressionType,Direction>::cross(const MatrixBase<OtherDerived>& other) const
+{
+  EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(OtherDerived,3)
+  EIGEN_STATIC_ASSERT((internal::is_same<Scalar, typename OtherDerived::Scalar>::value),
+    YOU_MIXED_DIFFERENT_NUMERIC_TYPES__YOU_NEED_TO_USE_THE_CAST_METHOD_OF_MATRIXBASE_TO_CAST_NUMERIC_TYPES_EXPLICITLY)
+  
+  typename internal::nested_eval<ExpressionType,2>::type mat(_expression());
+  typename internal::nested_eval<OtherDerived,2>::type vec(other.derived());
+
+  CrossReturnType res(_expression().rows(),_expression().cols());
+  if(Direction==Vertical)
+  {
+    eigen_assert(CrossReturnType::RowsAtCompileTime==3 && "the matrix must have exactly 3 rows");
+    res.row(0) = (mat.row(1) * vec.coeff(2) - mat.row(2) * vec.coeff(1)).conjugate();
+    res.row(1) = (mat.row(2) * vec.coeff(0) - mat.row(0) * vec.coeff(2)).conjugate();
+    res.row(2) = (mat.row(0) * vec.coeff(1) - mat.row(1) * vec.coeff(0)).conjugate();
+  }
+  else
+  {
+    eigen_assert(CrossReturnType::ColsAtCompileTime==3 && "the matrix must have exactly 3 columns");
+    res.col(0) = (mat.col(1) * vec.coeff(2) - mat.col(2) * vec.coeff(1)).conjugate();
+    res.col(1) = (mat.col(2) * vec.coeff(0) - mat.col(0) * vec.coeff(2)).conjugate();
+    res.col(2) = (mat.col(0) * vec.coeff(1) - mat.col(1) * vec.coeff(0)).conjugate();
+  }
+  return res;
+}
+
+namespace internal {
+
+template<typename Derived, int Size = Derived::SizeAtCompileTime>
+struct unitOrthogonal_selector
+{
+  typedef typename plain_matrix_type<Derived>::type VectorType;
+  typedef typename traits<Derived>::Scalar Scalar;
+  typedef typename NumTraits<Scalar>::Real RealScalar;
+  typedef Matrix<Scalar,2,1> Vector2;
+  EIGEN_DEVICE_FUNC
+  static inline VectorType run(const Derived& src)
+  {
+    VectorType perp = VectorType::Zero(src.size());
+    Index maxi = 0;
+    Index sndi = 0;
+    src.cwiseAbs().maxCoeff(&maxi);
+    if (maxi==0)
+      sndi = 1;
+    RealScalar invnm = RealScalar(1)/(Vector2() << src.coeff(sndi),src.coeff(maxi)).finished().norm();
+    perp.coeffRef(maxi) = -numext::conj(src.coeff(sndi)) * invnm;
+    perp.coeffRef(sndi) =  numext::conj(src.coeff(maxi)) * invnm;
+
+    return perp;
+   }
+};
+
+template<typename Derived>
+struct unitOrthogonal_selector<Derived,3>
+{
+  typedef typename plain_matrix_type<Derived>::type VectorType;
+  typedef typename traits<Derived>::Scalar Scalar;
+  typedef typename NumTraits<Scalar>::Real RealScalar;
+  EIGEN_DEVICE_FUNC
+  static inline VectorType run(const Derived& src)
+  {
+    VectorType perp;
+    /* Let us compute the crossed product of *this with a vector
+     * that is not too close to being colinear to *this.
+     */
+
+    /* unless the x and y coords are both close to zero, we can
+     * simply take ( -y, x, 0 ) and normalize it.
+     */
+    if((!isMuchSmallerThan(src.x(), src.z()))
+    || (!isMuchSmallerThan(src.y(), src.z())))
+    {
+      RealScalar invnm = RealScalar(1)/src.template head<2>().norm();
+      perp.coeffRef(0) = -numext::conj(src.y())*invnm;
+      perp.coeffRef(1) = numext::conj(src.x())*invnm;
+      perp.coeffRef(2) = 0;
+    }
+    /* if both x and y are close to zero, then the vector is close
+     * to the z-axis, so it's far from colinear to the x-axis for instance.
+     * So we take the crossed product with (1,0,0) and normalize it.
+     */
+    else
+    {
+      RealScalar invnm = RealScalar(1)/src.template tail<2>().norm();
+      perp.coeffRef(0) = 0;
+      perp.coeffRef(1) = -numext::conj(src.z())*invnm;
+      perp.coeffRef(2) = numext::conj(src.y())*invnm;
+    }
+
+    return perp;
+   }
+};
+
+template<typename Derived>
+struct unitOrthogonal_selector<Derived,2>
+{
+  typedef typename plain_matrix_type<Derived>::type VectorType;
+  EIGEN_DEVICE_FUNC
+  static inline VectorType run(const Derived& src)
+  { return VectorType(-numext::conj(src.y()), numext::conj(src.x())).normalized(); }
+};
+
+} // end namespace internal
+
+/** \geometry_module \ingroup Geometry_Module
+  *
+  * \returns a unit vector which is orthogonal to \c *this
+  *
+  * The size of \c *this must be at least 2. If the size is exactly 2,
+  * then the returned vector is a counter clock wise rotation of \c *this, i.e., (-y,x).normalized().
+  *
+  * \sa cross()
+  */
+template<typename Derived>
+EIGEN_DEVICE_FUNC typename MatrixBase<Derived>::PlainObject
+MatrixBase<Derived>::unitOrthogonal() const
+{
+  EIGEN_STATIC_ASSERT_VECTOR_ONLY(Derived)
+  return internal::unitOrthogonal_selector<Derived>::run(derived());
+}
+
+} // end namespace Eigen
+
+#endif // EIGEN_ORTHOMETHODS_H