From 1122f0723e284b157f99c5c162bb10358df647a2 Mon Sep 17 00:00:00 2001
From: Oliver Sander <sander@igpm.rwth-aachen.de>
Date: Mon, 29 May 2006 14:40:54 +0000
Subject: [PATCH] added a method to create the identity
[[Imported from SVN: r819]]
---
src/quaternion.hh | 10 ++++++++++
1 file changed, 10 insertions(+)
diff --git a/src/quaternion.hh b/src/quaternion.hh
index 7728d625..5937ffc1 100644
--- a/src/quaternion.hh
+++ b/src/quaternion.hh
@@ -12,6 +12,16 @@ public:
Quaternion() {}
Quaternion(const Dune::FieldVector<T,4>& other) : Dune::FieldVector<T,4>(other) {}
+ /** \brief Return the identity element */
+ static Quaternion<T> identity() {
+ Quaternion<T> id;
+ id[0] = 0;
+ id[1] = 0;
+ id[2] = 0;
+ id[3] = 1;
+ return id;
+ }
+
/** \brief The exponential map from \f$ \mathfrak{so}(3) \f$ to \f$ SO(3) \f$
*/
static Quaternion<T> exp(const T& v0, const T& v1, const T& v2) {
--
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