From 02907b309a4be6429e3b867015702c1f29d66d5f Mon Sep 17 00:00:00 2001
From: Oliver Sander <sander@igpm.rwth-aachen.de>
Date: Sat, 22 Jan 2011 09:51:10 +0000
Subject: [PATCH] in exp: assert that the tangent vector is orthogonal to the
quaternion unit sphere
[[Imported from SVN: r6816]]
---
dune/gfe/rotation.hh | 2 ++
1 file changed, 2 insertions(+)
diff --git a/dune/gfe/rotation.hh b/dune/gfe/rotation.hh
index 42e54479..51c9231b 100644
--- a/dune/gfe/rotation.hh
+++ b/dune/gfe/rotation.hh
@@ -244,6 +244,8 @@ public:
*/
static Rotation<3,T> exp(const Rotation<3,T>& p, const EmbeddedTangentVector& v) {
+ assert( std::fabs(p*v) < 1e-8 );
+
// The vector v as a quaternion
Quaternion<T> vQuat(v);
--
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