From 7a3e435bcf6373a6beb670fdf3ebb08f15dae376 Mon Sep 17 00:00:00 2001
From: Oliver Sander <sander@igpm.rwth-aachen.de>
Date: Wed, 4 Jan 2012 11:07:46 +0000
Subject: [PATCH] Explicitly request Quaternion multiplication instead of
Rotation multiplication. This is now mandatory since Quaternions are not
implicitly casted to Rotations anymore (via Quaternion --> FieldVector<4> -->
Rotation). This implicit cast lead to a nasty bug here, because it involved
a normalization of the argument.
[[Imported from SVN: r8347]]
---
dune/gfe/rodlocalstiffness.hh | 16 ++++++++--------
1 file changed, 8 insertions(+), 8 deletions(-)
diff --git a/dune/gfe/rodlocalstiffness.hh b/dune/gfe/rodlocalstiffness.hh
index f518bad2..5fc8907d 100644
--- a/dune/gfe/rodlocalstiffness.hh
+++ b/dune/gfe/rodlocalstiffness.hh
@@ -258,10 +258,10 @@ interpolationDerivative(const Rotation<RT,3>& q0, const Rotation<RT,3>& q1, doub
for (int j=0; j<4; j++)
dw[j] = 0.5 * (i==j); // dExp[j][i] at v=0
- dw = q1InvQ0.mult(dw);
+ dw = q1InvQ0.Quaternion<double>::mult(dw);
mat.umv(dw,grad[i]);
- grad[i] = q1.mult(grad[i]);
+ grad[i] = q1.Quaternion<double>::mult(grad[i]);
}
}
@@ -295,10 +295,10 @@ interpolationDerivative(const Rotation<RT,3>& q0, const Rotation<RT,3>& q1, doub
for (int j=0; j<4; j++)
dw[j] = 0.5 * ((i-3)==j); // dExp[j][i-3] at v=0
- dw = q0InvQ1.mult(dw);
+ dw = q0InvQ1.Quaternion<double>::mult(dw);
mat.umv(dw,grad[i]);
- grad[i] = q0.mult(grad[i]);
+ grad[i] = q0.Quaternion<double>::mult(grad[i]);
}
}
@@ -384,7 +384,7 @@ interpolationVelocityDerivative(const Rotation<RT,3>& q0, const Rotation<RT,3>&
grad[i] += addend0;
grad[i] += vHv;
- grad[i] = q0.mult(grad[i]);
+ grad[i] = q0.Quaternion<double>::mult(grad[i]);
}
@@ -403,7 +403,7 @@ interpolationVelocityDerivative(const Rotation<RT,3>& q0, const Rotation<RT,3>&
// \parder{\xi}{w^1_j} = ...
Dune::FieldVector<RT,3> dxi(0);
- dExpInv.umv(q0Inv.mult(q1.mult(dw)), dxi);
+ dExpInv.umv(q0Inv.Quaternion<double>::mult(q1.Quaternion<double>::mult(dw)), dxi);
Quaternion<RT> vHv;
for (int j=0; j<4; j++) {
@@ -421,12 +421,12 @@ interpolationVelocityDerivative(const Rotation<RT,3>& q0, const Rotation<RT,3>&
// ///////////////////////////////////
- dw = q0Inv.mult(q1.mult(dw));
+ dw = q0Inv.Quaternion<double>::mult(q1.Quaternion<double>::mult(dw));
mat.umv(dw,grad[i]);
grad[i] += vHv;
- grad[i] = q0.mult(grad[i]);
+ grad[i] = q0.Quaternion<double>::mult(grad[i]);
}
--
GitLab