From 8699dd9992bcc43a00c6ba019ba6282333bcb7cc Mon Sep 17 00:00:00 2001
From: Oliver Sander <oliver.sander@tu-dresden.de>
Date: Fri, 11 May 2018 10:43:07 +0200
Subject: [PATCH] Implement method derivativeOfQuaternionToMatrix
This is necessary to compute H1 errors in matrix space.
---
dune/gfe/rotation.hh | 21 +++++++++++++++++++++
1 file changed, 21 insertions(+)
diff --git a/dune/gfe/rotation.hh b/dune/gfe/rotation.hh
index 1d9bb430..c9f11e4b 100644
--- a/dune/gfe/rotation.hh
+++ b/dune/gfe/rotation.hh
@@ -892,6 +892,27 @@ public:
}
+ /** \brief Derivative of the map from unit quaternions to orthogonal matrices
+ */
+ static Tensor3<T,3,3,4> derivativeOfQuaternionToMatrix(const Dune::FieldVector<T,4>& p)
+ {
+ Tensor3<T,3,3,4> result;
+
+ result[0][0] = { 2*p[0], -2*p[1], -2*p[2], 2*p[3]};
+ result[0][1] = { 2*p[1], 2*p[0], -2*p[3], -2*p[2]};
+ result[0][2] = { 2*p[2], 2*p[3], 2*p[0], 2*p[1]};
+
+ result[1][0] = { 2*p[1], 2*p[0], 2*p[3], 2*p[2]};
+ result[1][1] = {-2*p[0], 2*p[1], -2*p[2], 2*p[3]};
+ result[1][2] = {-2*p[3], 2*p[2], 2*p[1], -2*p[0]};
+
+ result[2][0] = { 2*p[2], -2*p[3], 2*p[0], -2*p[1]};
+ result[2][1] = { 2*p[3], 2*p[2], 2*p[1], 2*p[0]};
+ result[2][2] = {-2*p[0], -2*p[1], 2*p[2], 2*p[3]};
+
+ return result;
+ }
+
/** \brief Set rotation from orthogonal matrix
We tacitly assume that the matrix really is orthogonal */
--
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