From 3176314d309da08524063c1963889e2b58ed2b2b Mon Sep 17 00:00:00 2001
From: Oliver Sander <sander@igpm.rwth-aachen.de>
Date: Thu, 5 Dec 2013 14:07:21 +0000
Subject: [PATCH] Move methods exp with similar arguments next to each other
The methods
Rotation<T,3> exp(const Rotation<T,3>& p, const EmbeddedTangentVector& v)
and
otation<T,3> exp(const Rotation<T,3>& p, const Dune::FieldVector<T,4>& v)
do literally the same. So they should be next to each other in the code.
[[Imported from SVN: r9559]]
---
dune/gfe/rotation.hh | 44 +++++++++++++++++++++++---------------------
1 file changed, 23 insertions(+), 21 deletions(-)
diff --git a/dune/gfe/rotation.hh b/dune/gfe/rotation.hh
index 8396bf31..2dc55dd5 100644
--- a/dune/gfe/rotation.hh
+++ b/dune/gfe/rotation.hh
@@ -297,6 +297,29 @@ public:
// The actual exponential map
return exp(p, vMatrix);
}
+
+ static Rotation<T,3> exp(const Rotation<T,3>& p, const Dune::FieldVector<T,4>& v) {
+
+ assert( std::abs(p*v) < 1e-8 );
+
+ // The vector v as a quaternion
+ Quaternion<T> vQuat(v);
+
+ // left multiplication by the inverse base point yields a tangent vector at the identity
+ Quaternion<T> vAtIdentity = p.inverse().mult(vQuat);
+ assert( std::abs(vAtIdentity[3]) < 1e-8 );
+
+ // vAtIdentity as a skew matrix
+ SkewMatrix<T,3> vMatrix;
+ vMatrix.axial()[0] = 2*vAtIdentity[0];
+ vMatrix.axial()[1] = 2*vAtIdentity[1];
+ vMatrix.axial()[2] = 2*vAtIdentity[2];
+
+ // The actual exponential map
+ return exp(p, vMatrix);
+ }
+
+
/** \brief The exponential map from a given point $p \in SO(3)$.
\param v A tangent vector.
@@ -360,27 +383,6 @@ public:
return skew;
}
- static Rotation<T,3> exp(const Rotation<T,3>& p, const Dune::FieldVector<T,4>& v) {
-
- assert( std::abs(p*v) < 1e-8 );
-
- // The vector v as a quaternion
- Quaternion<T> vQuat(v);
-
- // left multiplication by the inverse base point yields a tangent vector at the identity
- Quaternion<T> vAtIdentity = p.inverse().mult(vQuat);
- assert( std::abs(vAtIdentity[3]) < 1e-8 );
-
- // vAtIdentity as a skew matrix
- SkewMatrix<T,3> vMatrix;
- vMatrix.axial()[0] = 2*vAtIdentity[0];
- vMatrix.axial()[1] = 2*vAtIdentity[1];
- vMatrix.axial()[2] = 2*vAtIdentity[2];
-
- // The actual exponential map
- return exp(p, vMatrix);
- }
-
static Dune::FieldMatrix<T,4,3> Dexp(const SkewMatrix<T,3>& v) {
Dune::FieldMatrix<T,4,3> result(0);
--
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