diff --git a/dune/gfe/rotation.hh b/dune/gfe/rotation.hh index f05cb2c229f96b07985a9d0243b3943aa09618e8..ff76ed67a175d0b4ad365e29eb4ee40c572ab623 100644 --- a/dune/gfe/rotation.hh +++ b/dune/gfe/rotation.hh @@ -208,17 +208,6 @@ public: return id; } - /** \brief Right multiplication */ - Rotation<T,3> mult(const Rotation<T,3>& other) const { - Rotation<T,3> 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<T,3> exp(const SkewMatrix<T,3>& v) {