From 06a9cb0d130f1e52bf21eda6f18e52abd09f372c Mon Sep 17 00:00:00 2001
From: Oliver Sander <oliver.sander@tu-dresden.de>
Date: Fri, 25 Feb 2022 10:44:03 +0100
Subject: [PATCH] Enable unit testing for the RigidBodyMotion<3> class
This involves fixing the secondDerivativeOfDistanceSquaredWRTSecondArgument
method: Previously it returned a FieldMatrix, but the test requires
a SymmetricMatrix.
---
dune/gfe/rigidbodymotion.hh | 20 ++++++++++++--------
test/targetspacetest.cc | 3 ++-
2 files changed, 14 insertions(+), 9 deletions(-)
diff --git a/dune/gfe/rigidbodymotion.hh b/dune/gfe/rigidbodymotion.hh
index b4541e3e..85e24ae3 100644
--- a/dune/gfe/rigidbodymotion.hh
+++ b/dune/gfe/rigidbodymotion.hh
@@ -145,22 +145,26 @@ public:
}
/** \brief Compute the Hessian of the squared distance function keeping the first argument fixed */
- static Dune::FieldMatrix<T,embeddedDim,embeddedDim> secondDerivativeOfDistanceSquaredWRTSecondArgument(const RigidBodyMotion<ctype,N> & p, const RigidBodyMotion<ctype,N> & q)
+ static Dune::SymmetricMatrix<T,embeddedDim> secondDerivativeOfDistanceSquaredWRTSecondArgument(const RigidBodyMotion<ctype,N> & p, const RigidBodyMotion<ctype,N> & q)
{
- Dune::FieldMatrix<T,embeddedDim,embeddedDim> result(0);
+ Dune::SymmetricMatrix<T,embeddedDim> result;
// The linear part
- Dune::FieldMatrix<T,N,N> linearPart = RealTuple<T,N>::secondDerivativeOfDistanceSquaredWRTSecondArgument(p.r,q.r);
+ Dune::SymmetricMatrix<T,N> linearPart = RealTuple<T,N>::secondDerivativeOfDistanceSquaredWRTSecondArgument(p.r,q.r);
for (int i=0; i<N; i++)
- for (int j=0; j<N; j++)
- result[i][j] = linearPart[i][j];
+ for (int j=0; j<=i; j++)
+ result(i,j) = linearPart(i,j);
// The rotation part
- Dune::FieldMatrix<T,Rotation<T,N>::embeddedDim,Rotation<T,N>::embeddedDim> rotationPart
+ Dune::SymmetricMatrix<T,Rotation<T,N>::embeddedDim> rotationPart
= Rotation<ctype,N>::secondDerivativeOfDistanceSquaredWRTSecondArgument(p.q,q.q);
for (int i=0; i<Rotation<T,N>::embeddedDim; i++)
- for (int j=0; j<Rotation<T,N>::embeddedDim; j++)
- result[N+i][N+j] = rotationPart[i][j];
+ {
+ for (int j=0; j<N; j++)
+ result(N+i,j) = 0;
+ for (int j=0; j<=i; j++)
+ result(N+i,N+j) = rotationPart(i,j);
+ }
return result;
}
diff --git a/test/targetspacetest.cc b/test/targetspacetest.cc
index f83a6243..61c92a08 100644
--- a/test/targetspacetest.cc
+++ b/test/targetspacetest.cc
@@ -380,7 +380,8 @@ int main() try
// test<Rotation<double,3> >();
//
-// test<RigidBodyMotion<double,3> >();
+ // Test the RigidBodyMotion class
+ test<RigidBodyMotion<double,3> >();
//
// test<HyperbolicHalfspacePoint<double,2> >();
--
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