From 2392c38dbfc9310a64bb2a25a1a63d14b4d7a185 Mon Sep 17 00:00:00 2001
From: Oliver Sander <sander@igpm.rwth-aachen.de>
Date: Fri, 5 Feb 2010 17:26:40 +0000
Subject: [PATCH] Introduce a 2d specialization for Rotation
[[Imported from SVN: r5492]]
---
src/rotation.hh | 38 ++++++++++++++++++++++++++++++++++++++
1 file changed, 38 insertions(+)
diff --git a/src/rotation.hh b/src/rotation.hh
index 5bc357e7..e1376707 100644
--- a/src/rotation.hh
+++ b/src/rotation.hh
@@ -19,6 +19,42 @@ class Rotation
};
+/** \brief Specialization for dim==2
+*/
+template <class T>
+class Rotation<2,T>
+{
+public:
+ /** \brief Member of the corresponding Lie algebra. This really is a skew-symmetric matrix */
+ typedef Dune::FieldVector<T,1> TangentVector;
+
+ /** \brief Default constructor, create the identity rotation */
+ Rotation()
+ : angle_(0)
+ {}
+
+ /** \brief Return the identity element */
+ static Rotation<2,T> identity() {
+ // Default constructor creates an identity
+ Rotation<2,T> id;
+ return id;
+ }
+
+ /** \brief The exponential map from a given point $p \in SO(3)$. */
+ static Rotation<2,T> exp(const Rotation<2,T>& p, const TangentVector& v) {
+ Rotation<2,T> result = p;
+ result.angle_ += v;
+ return result;
+ }
+
+
+ //private:
+
+ // We store the rotation as an angle
+ double angle_;
+};
+
+
/** \brief Specialization for dim==3
Uses unit quaternion coordinates.
@@ -446,4 +482,6 @@ public:
};
+
+
#endif
--
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