From bfb0b69c911b6e34fc3dfccfe8c787fefe310a75 Mon Sep 17 00:00:00 2001
From: Jonathan Youett <youett@mi.fu-berlin.de>
Date: Mon, 17 Oct 2011 09:58:05 +0000
Subject: [PATCH] use SkewMatrix class instead of FieldVector to represent
elements of the lie algebra
[[Imported from SVN: r7932]]
---
dune/gfe/rotation.hh | 24 ++++++++++++------------
1 file changed, 12 insertions(+), 12 deletions(-)
diff --git a/dune/gfe/rotation.hh b/dune/gfe/rotation.hh
index 668675cb..0a8684e5 100644
--- a/dune/gfe/rotation.hh
+++ b/dune/gfe/rotation.hh
@@ -271,14 +271,14 @@ public:
return exp(p, vMatrix);
}
- /** \brief Compute tangent vector from given basepoint and axial vector. */
- static TangentVector axialToTangentVector(const Rotation<3,T>& p, const Dune::FieldVector<T,3> axialVector) {
+ /** \brief Compute tangent vector from given basepoint and skew symmetric matrix. */
+ static TangentVector axialToTangentVector(const Rotation<3,T>& p, const SkewMatrix<T,3>& v ) {
// embedded tangent vector at identity
Quaternion<T> vAtIdentity(0);
- vAtIdentity[0] = 0.5*axialVector[0];
- vAtIdentity[1] = 0.5*axialVector[1];
- vAtIdentity[2] = 0.5*axialVector[2];
+ vAtIdentity[0] = 0.5*v.axial()[0];
+ vAtIdentity[1] = 0.5*v.axial()[1];
+ vAtIdentity[2] = 0.5*v.axial()[2];
// multiply with base point to get real embedded tangent vector
Quaternion<T> vQuat = p.mult(vAtIdentity);
@@ -293,8 +293,8 @@ public:
return tang;
}
- /** \brief Compute axial vector from given basepoint and tangent vector. */
- static Dune::FieldVector<T,3> tangentToAxialVector(const Rotation<3,T>& p, const TangentVector& tangent) {
+ /** \brief Compute skew matrix from given basepoint and tangent vector. */
+ static SkewMatrix<T,3> tangentToAxialVector(const Rotation<3,T>& p, const TangentVector& tangent) {
// embedded tangent vector
Dune::FieldMatrix<T,3,4> basis = p.orthonormalFrame();
@@ -305,12 +305,12 @@ public:
Quaternion<T> vAtIdentity = p.inverse().mult(embeddedTangent);
assert( std::fabs(vAtIdentity[3]) < 1e-8 );
- Dune::FieldVector<T,3> axial;
- axial[0] = 2*vAtIdentity[0];
- axial[1] = 2*vAtIdentity[1];
- axial[2] = 2*vAtIdentity[2];
+ SkewMatrix<T,3> skew;
+ skew.axial()[0] = 2*vAtIdentity[0];
+ skew.axial()[1] = 2*vAtIdentity[1];
+ skew.axial()[2] = 2*vAtIdentity[2];
- return axial;
+ return skew;
}
static Rotation<3,T> exp(const Rotation<3,T>& p, const Dune::FieldVector<T,4>& v) {
--
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