This code:

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Eigen::Matrix3d new_cb_n;
//... set contents of new_cb_n
 new_cb_n.row(1) = new_cb_n.row(2).cross(new_cb_n.row(0));

gives me this error:

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undefined reference to `Eigen::Matrix<double, 1, 3, 2, 1, 3> Eigen::MatrixBase<Eigen::Block<Eigen::Matrix<double, 3, 3, 2, 3, 3>, 1, 3, 1, 32> >::cross<Eigen::Block<Eigen::Matrix<double, 3, 3, 2, 3, 3>, 1, 3, 1, 32> >(Eigen::MatrixBase<Eigen::Block<Eigen::Matrix<double, 3, 3, 2, 3, 3>, 1, 3, 1, 32> > const&) const'

Also I can change it to

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new_cb_n.row(1) = new_cb_n.row(3).cross(new_cb_n.row(0));

which will compile but crash during runtime.

I'm using the version of Eigen that is in the latest ROS, not sure if it is much different but I'll take the question to the ROS mailing list next. Can anyone tell me what is going wrong?

are you sure you #include <Eigen/Geometry> ?? here the following compiler and run fine:

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#include <iostream>
#include <Eigen/Geometry>
using namespace Eigen;

int main()
{
  Eigen::Matrix3d new_cb_n;
  new_cb_n << 1, 2, 3, 4, 5, 6, 7, 8, 9;
  new_cb_n.row(1) = new_cb_n.row(2).cross(new_cb_n.row(0));
  std::cerr << new_cb_n << "\n";

  return 0;
}

That worked, thanks! I was only including Eigen/Core.