Hack around an inconsistency between Rotation<3> and other target spaces,
notably the almost-equivalent UnitVector<4>: A vector with three entries is interpreted by the UnitVector<4> class as a tangent vector given in the basis returned by orthonormalFrame. That is correct as it works for all kinds of manifolds. On the other hand, the Rotation<3> class interprets as a 3x3 skew matrix (a tangent vector at the identity in the matrix representation) even though the implementation used quaternion coordinates. To trick around this the use of exp methods with FieldVector<3> is avoided by this patch. A real fix would involve introducing a SkewMatrix class and using that in Rotation<3>. [[Imported from SVN: r7575]]
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