From a16713a29a22557f2fdae5df72468debb3d51489 Mon Sep 17 00:00:00 2001
From: Oliver Sander <sander@igpm.rwth-aachen.de>
Date: Wed, 23 Aug 2006 16:19:12 +0000
Subject: [PATCH] new constructor and interpolation method
[[Imported from SVN: r906]]
---
src/quaternion.hh | 39 +++++++++++++++++++++++++++++++++++++++
1 file changed, 39 insertions(+)
diff --git a/src/quaternion.hh b/src/quaternion.hh
index 879fd520..45f9af69 100644
--- a/src/quaternion.hh
+++ b/src/quaternion.hh
@@ -9,9 +9,22 @@ class Quaternion : public Dune::FieldVector<T,4>
{
public:
+ /** \brief Default constructor */
Quaternion() {}
+
+ /** \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 Return the identity element */
static Quaternion<T> identity() {
Quaternion<T> id;
@@ -85,6 +98,32 @@ public:
(*this) /= this->two_norm();
}
+ Dune::FieldVector<double,3> rotate(const Dune::FieldVector<double,3>& v) const {
+
+ Dune::FieldVector<double,3> result;
+ Dune::FieldVector<double,3> d0 = director(0);
+ Dune::FieldVector<double,3> d1 = director(1);
+ Dune::FieldVector<double,3> d2 = director(2);
+
+ for (int i=0; i<3; i++)
+ result[i] = v[0]*d0[i] + v[1]*d1[i] + v[2]*d2[i];
+
+ return result;
+ }
+
+ /** \brief Interpolate between two rotations */
+ static Quaternion<T> interpolate(const Quaternion<T>& a, const Quaternion<T>& b, double omega) {
+
+ Quaternion<T> result;
+
+ for (int i=0; i<4; i++)
+ result[i] = a[i]*(1-omega) + b[i]*omega;
+
+ result.normalize();
+
+ return result;
+ }
+
};
#endif
--
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