From 0c04d3d75cd692b2efa2edbd7a8082bf3b0c606b Mon Sep 17 00:00:00 2001
From: Oliver Sander <sander@igpm.rwth-aachen.de>
Date: Mon, 8 Mar 2010 14:16:00 +0000
Subject: [PATCH] 2d rotation gets methods exp and mult
[[Imported from SVN: r5688]]
---
src/rotation.hh | 14 ++++++++++++++
1 file changed, 14 insertions(+)
diff --git a/src/rotation.hh b/src/rotation.hh
index e1376707..cf7e4829 100644
--- a/src/rotation.hh
+++ b/src/rotation.hh
@@ -47,6 +47,20 @@ public:
return result;
}
+ /** \brief The exponential map from \f$ \mathfrak{so}(2) \f$ to \f$ SO(2) \f$
+ */
+ static Rotation<2,T> exp(const Dune::FieldVector<T,1>& v) {
+ Rotation<2,T> result;
+ result.angle_ = v[0];
+ return result;
+ }
+
+ /** \brief Right multiplication */
+ Rotation<2,T> mult(const Rotation<2,T>& other) const {
+ Rotation<2,T> q = *this;
+ q.angle_ += other.angle_;
+ return q;
+ }
//private:
--
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