From 443eb126e59e3ef12ace69cc84379eab95686eeb Mon Sep 17 00:00:00 2001
From: Oliver Sander <sander@igpm.rwth-aachen.de>
Date: Tue, 23 Mar 2010 09:43:26 +0000
Subject: [PATCH] bugfix: sign of the derivative of the squared distance was
wrong
[[Imported from SVN: r5792]]
---
src/rotation.hh | 5 ++++-
1 file changed, 4 insertions(+), 1 deletion(-)
diff --git a/src/rotation.hh b/src/rotation.hh
index 07cb02ee..9cccac85 100644
--- a/src/rotation.hh
+++ b/src/rotation.hh
@@ -80,7 +80,10 @@ public:
static TangentVector derivativeOfDistanceSquaredWRTSecondArgument(const Rotation<2,T>& a,
const Rotation<2,T>& b) {
- return -2 * distance(a,b);
+ // This assertion is here to remind me of the following laziness:
+ // The difference has to be computed modulo 2\pi
+ assert( std::fabs(a.angle_ - b.angle_) <= M_PI );
+ return -2 * (a.angle_ - b.angle_);
}
static Dune::FieldMatrix<double,1,1> secondDerivativeOfDistanceSquaredWRTSecondArgument(const Rotation<2,T>& a,
--
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