From de6578f0f3139698ec0992a0bea091c6ebe70535 Mon Sep 17 00:00:00 2001
From: Jonathan Youett <youett@mi.fu-berlin.de>
Date: Thu, 20 Oct 2011 09:29:42 +0000
Subject: [PATCH] add method to transform an embedded tangent vector into the
corresponding SkewMatrix and use this method in the old tangentToSkew method
[[Imported from SVN: r7971]]
---
dune/gfe/rotation.hh | 8 +++++++-
1 file changed, 7 insertions(+), 1 deletion(-)
diff --git a/dune/gfe/rotation.hh b/dune/gfe/rotation.hh
index d19f8247..90589caf 100644
--- a/dune/gfe/rotation.hh
+++ b/dune/gfe/rotation.hh
@@ -300,9 +300,15 @@ public:
Dune::FieldMatrix<T,3,4> basis = p.orthonormalFrame();
Quaternion<T> embeddedTangent;
basis.mtv(tangent, embeddedTangent);
+
+ tangentToSkew(p,embeddedTangent);
+ }
+ /** \brief Compute skew matrix from given basepoint and an embedded tangent vector. */
+ static SkewMatrix<T,3> tangentToSkew(const Rotation<3,T>& p, const EmbeddedTangentVector& q) {
+
// left multiplication by the inverse base point yields a tangent vector at the identity
- Quaternion<T> vAtIdentity = p.inverse().mult(embeddedTangent);
+ Quaternion<T> vAtIdentity = p.inverse().mult(q);
assert( std::fabs(vAtIdentity[3]) < 1e-8 );
SkewMatrix<T,3> skew;
--
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