[eigen] cross product with complex vectors

[Orell Garten <orell.garten@xxxxxxxxxxxxxxxxxxxxx>]

Hi

I was wondering whether the implementation of the cross product for
complex vectors [1] is correct.

Assume I have two vectors of type Vector3cd which hold a=(0,0,1) and
b=(0,1+i,0). I do a.cross(b) and would expect to get (-1-i,0,0) but get
(-1+i,0,0) as a result.

I think the formula in [1] should be (a + ib) x (c x id) = (a x c - b x
d) + i (a x d + b x c) but maybe I am wrong.

It would be great if somebody could provide some sanity check or the
reasoning behind [1].

Thanks for helping,
Orell

[1]
http://eigen.tuxfamily.org/dox/group__Geometry__Module.html#ga0024b44eca99cb7135887c2aaf319d28