From 0705eb2d19bcf71399da5d1a25ea1fdf585c3023 Mon Sep 17 00:00:00 2001
From: Jonathan Youett <youett@mi.fu-berlin.de>
Date: Fri, 4 Nov 2011 13:56:40 +0000
Subject: [PATCH] add exponential method for real tangent vectors
[[Imported from SVN: r8115]]
---
dune/gfe/rotation.hh | 14 ++++++++++++++
1 file changed, 14 insertions(+)
diff --git a/dune/gfe/rotation.hh b/dune/gfe/rotation.hh
index dd038f07..5be3c27b 100644
--- a/dune/gfe/rotation.hh
+++ b/dune/gfe/rotation.hh
@@ -267,6 +267,20 @@ public:
// The actual exponential map
return exp(p, vMatrix);
+ }
+ /** \brief The exponential map from a given point $p \in SO(3)$.
+
+ \param v A tangent vector.
+ */
+ static Rotation<3,T> exp(const Rotation<3,T>& p, const TangentVector& v) {
+
+ // embedded tangent vector
+ Dune::FieldMatrix<T,3,4> basis = p.orthonormalFrame();
+ Quaternion<T> embeddedTangent;
+ basis.mtv(v, embeddedTangent);
+
+ return exp(p,embeddedTangent);
+
}
/** \brief Compute tangent vector from given basepoint and skew symmetric matrix. */
--
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