From a2df8a9341f270c48fd6ad6f3ac2688582083dcf Mon Sep 17 00:00:00 2001
From: Oliver Sander <sander@igpm.rwth-aachen.de>
Date: Thu, 5 Dec 2013 14:25:53 +0000
Subject: [PATCH] Get rid of method exp(p, EmbeddedTangentVector) completely.
There is one copy which takes FieldVector<T,4> as its second argument.
Since EmbeddedTangentVector ( = Quaternion<T>) derives from FieldVector<T,4>,
that second implementation should work in all cases.
[[Imported from SVN: r9560]]
---
dune/gfe/rotation.hh | 21 ---------------------
1 file changed, 21 deletions(-)
diff --git a/dune/gfe/rotation.hh b/dune/gfe/rotation.hh
index 2dc55dd5..64ff184c 100644
--- a/dune/gfe/rotation.hh
+++ b/dune/gfe/rotation.hh
@@ -277,27 +277,6 @@ public:
\param v A tangent vector in quaternion coordinates
*/
- static Rotation<T,3> exp(const Rotation<T,3>& p, const EmbeddedTangentVector& v) {
-
- assert( std::abs(p*v) < 1e-8 );
-
- // The vector v as a quaternion
- Quaternion<T> vQuat(v);
-
- // left multiplication by the inverse base point yields a tangent vector at the identity
- Quaternion<T> vAtIdentity = p.inverse().mult(vQuat);
- assert( std::abs(vAtIdentity[3]) < 1e-8 );
-
- // vAtIdentity as a skew matrix
- SkewMatrix<T,3> vMatrix;
- vMatrix.axial()[0] = 2*vAtIdentity[0];
- vMatrix.axial()[1] = 2*vAtIdentity[1];
- vMatrix.axial()[2] = 2*vAtIdentity[2];
-
- // The actual exponential map
- return exp(p, vMatrix);
- }
-
static Rotation<T,3> exp(const Rotation<T,3>& p, const Dune::FieldVector<T,4>& v) {
assert( std::abs(p*v) < 1e-8 );
--
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