From 49ca62fd0fc8ab306d4ebc95849051ab463410cd Mon Sep 17 00:00:00 2001
From: Jonathan Youett <youett@mi.fu-berlin.de>
Date: Thu, 3 Nov 2011 14:14:31 +0000
Subject: [PATCH] give reference were to find the cayley and inverse cayley
[[Imported from SVN: r8101]]
---
dune/gfe/rotation.hh | 12 ++++++++++--
1 file changed, 10 insertions(+), 2 deletions(-)
diff --git a/dune/gfe/rotation.hh b/dune/gfe/rotation.hh
index eb562a28..75e4f14b 100644
--- a/dune/gfe/rotation.hh
+++ b/dune/gfe/rotation.hh
@@ -454,7 +454,12 @@ public:
return APseudoInv;
}
- /** \brief The cayley mapping from \f$ \mathfrak{so}(3) \f$ to \f$ SO(3) \f$. */
+ /** \brief The cayley mapping from \f$ \mathfrak{so}(3) \f$ to \f$ SO(3) \f$.
+ *
+ * The formula is taken from 'J.C.Simo, N.Tarnom, M.Doblare - Non-linear dynamics of
+ * three-dimensional rods:Exact energy and momentum conserving algorithms'
+ * (but the corrected version with 0.25 instead of 0.5 in the denominator)
+ */
static Rotation<3,T> cayley(const SkewMatrix<T,3>& s) {
Rotation<3,T> q;
@@ -475,7 +480,10 @@ public:
return q;
}
- /** \brief The inverse of the Cayley mapping. */
+ /** \brief The inverse of the Cayley mapping.
+ *
+ * The formula is taken from J.M.Selig - Cayley Maps for SE(3).
+ */
static SkewMatrix<T,3> cayleyInv(const Rotation<3,T> q) {
Dune::FieldMatrix<T,3,3> mat;
--
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