52 template<
typename dtype>
58 returnArray(0, 0) = 0.0;
59 returnArray(0, 1) = -inZ;
60 returnArray(0, 2) = inY;
61 returnArray(1, 0) = inZ;
62 returnArray(1, 1) = 0.0;
63 returnArray(1, 2) = -inX;
64 returnArray(2, 0) = -inY;
65 returnArray(2, 1) = inX;
66 returnArray(2, 2) = 0.0;
80 template<
typename dtype>
85 if (inVec.
size() != 3)
90 return hat(inVec[0], inVec[1], inVec[2]);
104 return hat(inVec.
x, inVec.
y, inVec.
z);