51 template<
typename dtype>
57 returnArray(0, 0) = 0.0;
58 returnArray(0, 1) = -inZ;
59 returnArray(0, 2) = inY;
60 returnArray(1, 0) = inZ;
61 returnArray(1, 1) = 0.0;
62 returnArray(1, 2) = -inX;
63 returnArray(2, 0) = -inY;
64 returnArray(2, 1) = inX;
65 returnArray(2, 2) = 0.0;
79 template<
typename dtype>
84 if (inVec.
size() != 3)
89 return hat(inVec[0], inVec[1], inVec[2]);
103 return hat(inVec.
x, inVec.
y, inVec.
z);