From 0c26b6cb5cb03609ffc66efe1ec9214260abd683 Mon Sep 17 00:00:00 2001
From: Jonathan Youett <youett@math.fu-berlin.de>
Date: Fri, 24 Nov 2017 15:40:36 +0100
Subject: [PATCH] Fix method 'difference'
When switching to the double covered quaternion pair, the
corresponding distance was not computed correctly
---
dune/gfe/rotation.hh | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/dune/gfe/rotation.hh b/dune/gfe/rotation.hh
index b4e2fce9..42d6c24d 100644
--- a/dune/gfe/rotation.hh
+++ b/dune/gfe/rotation.hh
@@ -605,7 +605,7 @@ public:
// 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;
+ dist = 2*M_PI - dist;
diff *= -1;
}
--
GitLab