From 8195050fbcad1b5f4d93b355489366dad54c0e8b Mon Sep 17 00:00:00 2001
From: Oliver Sander <sander@igpm.rwth-aachen.de>
Date: Wed, 16 Nov 2011 14:49:57 +0000
Subject: [PATCH] Move the constructor with a given axis and angle from the
Quaternion class to the Rotation class. Rotation axes and angles are a
genuine rotation concept and don't really belong into a quaternion
implementation.
[[Imported from SVN: r8207]]
---
dune/gfe/quaternion.hh | 10 ----------
dune/gfe/rotation.hh | 10 ++++++++--
2 files changed, 8 insertions(+), 12 deletions(-)
diff --git a/dune/gfe/quaternion.hh b/dune/gfe/quaternion.hh
index df69b26b..a6580dfd 100644
--- a/dune/gfe/quaternion.hh
+++ b/dune/gfe/quaternion.hh
@@ -32,16 +32,6 @@ public:
/** \brief Copy constructor */
Quaternion(const Dune::FieldVector<T,4>& other) : Dune::FieldVector<T,4>(other) {}
- /** \brief Constructor with rotation axis and angle */
- Quaternion(Dune::FieldVector<T,3> axis, T angle) {
- axis /= axis.two_norm();
- axis *= std::sin(angle/2);
- (*this)[0] = axis[0];
- (*this)[1] = axis[1];
- (*this)[2] = axis[2];
- (*this)[3] = std::cos(angle/2);
- }
-
/** \brief Assignment from a scalar */
Quaternion<T>& operator=(const T& v) {
for (int i=0; i<4; i++)
diff --git a/dune/gfe/rotation.hh b/dune/gfe/rotation.hh
index 398f9d78..2ce7cfbd 100644
--- a/dune/gfe/rotation.hh
+++ b/dune/gfe/rotation.hh
@@ -192,8 +192,14 @@ public:
}
Rotation<T,3>(Dune::FieldVector<T,3> axis, T angle)
- : Quaternion<T>(axis, angle)
- {}
+ {
+ axis /= axis.two_norm();
+ axis *= std::sin(angle/2);
+ (*this)[0] = axis[0];
+ (*this)[1] = axis[1];
+ (*this)[2] = axis[2];
+ (*this)[3] = std::cos(angle/2);
+ }
/** \brief Return the identity element */
static Rotation<T,3> identity() {
--
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