From d6f65f51b14500491b41c529183a99109e35ef7d Mon Sep 17 00:00:00 2001
From: Oliver Sander <sander@igpm.rwth-aachen.de>
Date: Wed, 12 Oct 2011 15:22:26 +0000
Subject: [PATCH] Remove multiplication with a general quaternion.
It's result is not necessarily a Rotation, hence such a method
would better be placed in the general 'Quaternion' class.
Also, nobody in this module used it anyways.
[[Imported from SVN: r7883]]
---
dune/gfe/rotation.hh | 12 ------------
1 file changed, 12 deletions(-)
diff --git a/dune/gfe/rotation.hh b/dune/gfe/rotation.hh
index ef29f72b..10b28c4c 100644
--- a/dune/gfe/rotation.hh
+++ b/dune/gfe/rotation.hh
@@ -215,18 +215,6 @@ public:
return q;
}
- /** \brief Right multiplication with a quaternion
- \todo do we really need this?*/
- Rotation<3,T> mult(const Quaternion<T>& other) const {
- Rotation<3,T> q;
- q[0] = (*this)[3]*other[0] - (*this)[2]*other[1] + (*this)[1]*other[2] + (*this)[0]*other[3];
- q[1] = (*this)[2]*other[0] + (*this)[3]*other[1] - (*this)[0]*other[2] + (*this)[1]*other[3];
- q[2] = - (*this)[1]*other[0] + (*this)[0]*other[1] + (*this)[3]*other[2] + (*this)[2]*other[3];
- q[3] = - (*this)[0]*other[0] - (*this)[1]*other[1] - (*this)[2]*other[2] + (*this)[3]*other[3];
-
- return q;
- }
-
/** \brief The exponential map from \f$ \mathfrak{so}(3) \f$ to \f$ SO(3) \f$
*/
static Rotation<3,T> exp(const Dune::FieldVector<T,3>& v) {
--
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