From 5ba18846be421c30ab0a20cb0fa6674620b57408 Mon Sep 17 00:00:00 2001
From: Oliver Sander <sander@igpm.rwth-aachen.de>
Date: Wed, 17 Oct 2007 09:39:46 +0000
Subject: [PATCH] introduce and use constructor from a single scalar
[[Imported from SVN: r1702]]
---
src/quaternion.hh | 6 ++++--
1 file changed, 4 insertions(+), 2 deletions(-)
diff --git a/src/quaternion.hh b/src/quaternion.hh
index c2e01410..f9a6ed49 100644
--- a/src/quaternion.hh
+++ b/src/quaternion.hh
@@ -30,6 +30,9 @@ public:
}
+ /** \brief Constructor from a single scalar */
+ Quaternion(const T& a) : Dune::FieldVector<T,4>(a) {}
+
/** \brief Copy constructor */
Quaternion(const Dune::FieldVector<T,4>& other) : Dune::FieldVector<T,4>(other) {}
@@ -396,7 +399,7 @@ public:
/** \brief Interpolate between two rotations */
static Quaternion<T> interpolateDerivative(const Quaternion<T>& a, const Quaternion<T>& b,
double omega, double intervallLength) {
- Quaternion<T> result;
+ Quaternion<T> result(0);
// Compute difference on T_a SO(3)
Dune::FieldVector<double,3> v = difference(a,b);
@@ -413,7 +416,6 @@ public:
Dune::FieldMatrix<double,4,3> diffExp = Quaternion<double>::Dexp(v);
- result[0] = result[1] = result[2] = result[3] = 0;
diffExp.umv(der,result);
return a.mult(result);
--
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