Loose-GNSS-IMU/Loose-GNSS-IMU/MatrixUtils.cpp
// A function to compute Cross Product
A function to compute Cross Product
A function to compute Cross Product
VectorXd CrossProd(VectorXd A, VectorXd B) {
	VectorXd C = VectorXd::Zero(3);
	C(0) = A[1] * B[2] - A[2] * B[1];
	C(1) = A[2] * B[0] - A[0] * B[2];
	C(2) = A[0] * B[1] - A[1] * B[0];
	return C;
}
VectorXd CrossProd ( VectorXd A , VectorXd B ) { VectorXd C = VectorXd :: Zero ( 3 ) ; C ( 0 ) = A [ 1 ] * B [ 2 ] - A [ 2 ] * B [ 1 ] ; C ( 1 ) = A [ 2 ] * B [ 0 ] - A [ 0 ] * B [ 2 ] ; C ( 2 ) = A [ 0 ] * B [ 1 ] - A [ 1 ] * B [ 0 ] ; return C ; }
A function to compute Cross Product
A function to compute Cross Product