From 6c6f2d6b901b7ef1d3af037c78fa1f351c77e49e Mon Sep 17 00:00:00 2001
From: Oliver Sander <sander@igpm.rwth-aachen.de>
Date: Mon, 10 Jan 2011 08:16:08 +0000
Subject: [PATCH] add method 'exp' that takes an EmbeddedTangentVector
[[Imported from SVN: r6708]]
---
dune/gfe/rigidbodymotion.hh | 17 +++++++++++++----
dune/gfe/rotation.hh | 5 +++++
2 files changed, 18 insertions(+), 4 deletions(-)
diff --git a/dune/gfe/rigidbodymotion.hh b/dune/gfe/rigidbodymotion.hh
index 34da7efb..4fc2d6fc 100644
--- a/dune/gfe/rigidbodymotion.hh
+++ b/dune/gfe/rigidbodymotion.hh
@@ -20,8 +20,14 @@ struct RigidBodyMotion
/** \brief The type used for coordinates */
typedef T ctype;
- /** \brief The exponential map from a given point $p \in SE(d)$. */
- static RigidBodyMotion<dim,ctype> exp(const RigidBodyMotion<dim,ctype>& p, const TangentVector& v) {
+ /** \brief The exponential map from a given point $p \in SE(d)$.
+
+ Why the template parameter? Well, it should work with both TangentVector and EmbeddedTangentVector.
+ In general these differ and we could just have two exp methods. However in 2d they do _not_ differ,
+ and then the compiler complains about having two methods with the same signature.
+ */
+ template <class TVector>
+ static RigidBodyMotion<dim,ctype> exp(const RigidBodyMotion<dim,ctype>& p, const TVector& v) {
RigidBodyMotion<dim,ctype> result;
@@ -30,8 +36,11 @@ struct RigidBodyMotion
result.r[i] = p.r[i] + v[i];
// Add rotational correction
- typename Rotation<dim,ctype>::TangentVector qCorr;
- for (int i=0; i<Rotation<dim,ctype>::TangentVector::size; i++)
+ typedef typename Dune::SelectType<Dune::is_same<TVector,TangentVector>::value,
+ typename Rotation<dim,ctype>::TangentVector,
+ typename Rotation<dim,ctype>::EmbeddedTangentVector>::Type RotationTangentVector;
+ RotationTangentVector qCorr;
+ for (int i=0; i<RotationTangentVector::size; i++)
qCorr[i] = v[dim+i];
result.q = Rotation<dim,ctype>::exp(p.q, qCorr);
diff --git a/dune/gfe/rotation.hh b/dune/gfe/rotation.hh
index fef9e118..b141a84d 100644
--- a/dune/gfe/rotation.hh
+++ b/dune/gfe/rotation.hh
@@ -225,6 +225,11 @@ public:
return p.mult(corr);
}
+ /** \brief The exponential map from a given point $p \in SO(3)$. */
+ static Rotation<3,T> exp(const Rotation<3,T>& p, const EmbeddedTangentVector& v) {
+ DUNE_THROW(Dune::NotImplemented, "exp... EmbeddedTangentVector");
+ }
+
static Dune::FieldMatrix<T,4,3> Dexp(const Dune::FieldVector<T,3>& v) {
Dune::FieldMatrix<T,4,3> result(0);
--
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