From 06ddd9b5faf4231acf1e9f81b94d1ead29963bb2 Mon Sep 17 00:00:00 2001
From: Jonathan Youett <youett@mi.fu-berlin.de>
Date: Thu, 3 Nov 2011 15:26:20 +0000
Subject: [PATCH] revert last patch. I still had the hack on the repaired the
interpolation bug in my test problem
[[Imported from SVN: r8104]]
---
dune/gfe/rotation.hh | 18 ++----------------
1 file changed, 2 insertions(+), 16 deletions(-)
diff --git a/dune/gfe/rotation.hh b/dune/gfe/rotation.hh
index 7d6c5135..75e4f14b 100644
--- a/dune/gfe/rotation.hh
+++ b/dune/gfe/rotation.hh
@@ -454,7 +454,7 @@ public:
return APseudoInv;
}
- /** \brief The cayley mapping from \f$ \mathfrak{so}(3) \f$ to \f$ SO(3) \f$.
+ /** \brief The cayley mapping from \f$ \mathfrak{so}(3) \f$ to \f$ SO(3) \f$.
*
* The formula is taken from 'J.C.Simo, N.Tarnom, M.Doblare - Non-linear dynamics of
* three-dimensional rods:Exact energy and momentum conserving algorithms'
@@ -480,7 +480,7 @@ public:
return q;
}
- /** \brief The inverse of the Cayley mapping.
+ /** \brief The inverse of the Cayley mapping.
*
* The formula is taken from J.M.Selig - Cayley Maps for SE(3).
*/
@@ -529,13 +529,6 @@ public:
diff.invert();
diff = diff.mult(b);
- T dist = 2*std::acos( std::min(diff[3],1.0) );
-
- // Make sure we do the right thing if a and b are not in the same sheet
- // of the double covering of the unit quaternions over SO(3)
- if (dist>=M_PI)
- diff *= -1;
-
// Compute the geodesical distance between a and b on SO(3)
// Due to numerical dirt, diff[3] may be larger than 1.
// In that case, use 1 instead of diff[3].
@@ -565,13 +558,6 @@ public:
T dist = 2*std::acos( std::min(diff[3],1.0) );
- // Make sure we do the right thing if a and b are not in the same sheet
- // of the double covering of the unit quaternions over SO(3)
- if (dist>=M_PI) {
- dist -= M_PI;
- diff *= -1;
- }
-
T invSinc = 1/sincHalf(dist);
// Compute difference on T_a SO(3)
--
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