From 6e78749b616a49181d1e580f584e3f4a7b02f33f Mon Sep 17 00:00:00 2001
From: Oliver Sander <sander@igpm.rwth-aachen.de>
Date: Sat, 12 Nov 2011 17:40:49 +0000
Subject: [PATCH] really use the desired coordinate type in all places
[[Imported from SVN: r8146]]
---
dune/gfe/rigidbodymotion.hh | 38 ++++++++++++++++++-------------------
dune/gfe/rotation.hh | 4 ++--
2 files changed, 21 insertions(+), 21 deletions(-)
diff --git a/dune/gfe/rigidbodymotion.hh b/dune/gfe/rigidbodymotion.hh
index d96b5ad6..2d1194f4 100644
--- a/dune/gfe/rigidbodymotion.hh
+++ b/dune/gfe/rigidbodymotion.hh
@@ -125,18 +125,18 @@ public:
}
/** \brief Compute the Hessian of the squared distance function keeping the first argument fixed */
- static Dune::FieldMatrix<double,embeddedDim,embeddedDim> secondDerivativeOfDistanceSquaredWRTSecondArgument(const RigidBodyMotion<N,ctype> & p, const RigidBodyMotion<N,ctype> & q)
+ static Dune::FieldMatrix<T,embeddedDim,embeddedDim> secondDerivativeOfDistanceSquaredWRTSecondArgument(const RigidBodyMotion<N,ctype> & p, const RigidBodyMotion<N,ctype> & q)
{
- Dune::FieldMatrix<double,embeddedDim,embeddedDim> result(0);
+ Dune::FieldMatrix<T,embeddedDim,embeddedDim> result(0);
// The linear part
- Dune::FieldMatrix<double,N,N> linearPart = RealTuple<N>::secondDerivativeOfDistanceSquaredWRTSecondArgument(p.r,q.r);
+ Dune::FieldMatrix<T,N,N> linearPart = RealTuple<N>::secondDerivativeOfDistanceSquaredWRTSecondArgument(p.r,q.r);
for (int i=0; i<N; i++)
for (int j=0; j<N; j++)
result[i][j] = linearPart[i][j];
// The rotation part
- Dune::FieldMatrix<double,Rotation<N,T>::embeddedDim,Rotation<N,T>::embeddedDim> rotationPart
+ Dune::FieldMatrix<T,Rotation<N,T>::embeddedDim,Rotation<N,T>::embeddedDim> rotationPart
= Rotation<N,ctype>::secondDerivativeOfDistanceSquaredWRTSecondArgument(p.q,q.q);
for (int i=0; i<Rotation<N,T>::embeddedDim; i++)
for (int j=0; j<Rotation<N,T>::embeddedDim; j++)
@@ -149,18 +149,18 @@ public:
Unlike the distance itself the squared distance is differentiable at zero
*/
- static Dune::FieldMatrix<double,embeddedDim,embeddedDim> secondDerivativeOfDistanceSquaredWRTFirstAndSecondArgument(const RigidBodyMotion<N,ctype> & p, const RigidBodyMotion<N,ctype> & q)
+ static Dune::FieldMatrix<T,embeddedDim,embeddedDim> secondDerivativeOfDistanceSquaredWRTFirstAndSecondArgument(const RigidBodyMotion<N,ctype> & p, const RigidBodyMotion<N,ctype> & q)
{
- Dune::FieldMatrix<double,embeddedDim,embeddedDim> result(0);
+ Dune::FieldMatrix<T,embeddedDim,embeddedDim> result(0);
// The linear part
- Dune::FieldMatrix<double,N,N> linearPart = RealTuple<N>::secondDerivativeOfDistanceSquaredWRTFirstAndSecondArgument(p.r,q.r);
+ Dune::FieldMatrix<T,N,N> linearPart = RealTuple<N>::secondDerivativeOfDistanceSquaredWRTFirstAndSecondArgument(p.r,q.r);
for (int i=0; i<N; i++)
for (int j=0; j<N; j++)
result[i][j] = linearPart[i][j];
// The rotation part
- Dune::FieldMatrix<double,Rotation<N,T>::embeddedDim,Rotation<N,T>::embeddedDim> rotationPart
+ Dune::FieldMatrix<T,Rotation<N,T>::embeddedDim,Rotation<N,T>::embeddedDim> rotationPart
= Rotation<N,ctype>::secondDerivativeOfDistanceSquaredWRTFirstAndSecondArgument(p.q,q.q);
for (int i=0; i<Rotation<N,T>::embeddedDim; i++)
for (int j=0; j<Rotation<N,T>::embeddedDim; j++)
@@ -173,19 +173,19 @@ public:
Unlike the distance itself the squared distance is differentiable at zero
*/
- static Tensor3<double,embeddedDim,embeddedDim,embeddedDim> thirdDerivativeOfDistanceSquaredWRTSecondArgument(const RigidBodyMotion<N,ctype> & p, const RigidBodyMotion<N,ctype> & q)
+ static Tensor3<T,embeddedDim,embeddedDim,embeddedDim> thirdDerivativeOfDistanceSquaredWRTSecondArgument(const RigidBodyMotion<N,ctype> & p, const RigidBodyMotion<N,ctype> & q)
{
- Tensor3<double,embeddedDim,embeddedDim,embeddedDim> result(0);
+ Tensor3<T,embeddedDim,embeddedDim,embeddedDim> result(0);
// The linear part
- Tensor3<double,N,N,N> linearPart = RealTuple<N>::thirdDerivativeOfDistanceSquaredWRTSecondArgument(p.r,q.r);
+ Tensor3<T,N,N,N> linearPart = RealTuple<N>::thirdDerivativeOfDistanceSquaredWRTSecondArgument(p.r,q.r);
for (int i=0; i<N; i++)
for (int j=0; j<N; j++)
for (int k=0; k<N; k++)
result[i][j][k] = linearPart[i][j][k];
// The rotation part
- Tensor3<double,Rotation<N,T>::embeddedDim,Rotation<N,T>::embeddedDim,Rotation<N,T>::embeddedDim> rotationPart
+ Tensor3<T,Rotation<N,T>::embeddedDim,Rotation<N,T>::embeddedDim,Rotation<N,T>::embeddedDim> rotationPart
= Rotation<N,ctype>::thirdDerivativeOfDistanceSquaredWRTSecondArgument(p.q,q.q);
for (int i=0; i<Rotation<N,T>::embeddedDim; i++)
@@ -200,19 +200,19 @@ public:
Unlike the distance itself the squared distance is differentiable at zero
*/
- static Tensor3<double,embeddedDim,embeddedDim,embeddedDim> thirdDerivativeOfDistanceSquaredWRTFirst1AndSecond2Argument(const RigidBodyMotion<N,ctype> & p, const RigidBodyMotion<N,ctype> & q)
+ static Tensor3<T,embeddedDim,embeddedDim,embeddedDim> thirdDerivativeOfDistanceSquaredWRTFirst1AndSecond2Argument(const RigidBodyMotion<N,ctype> & p, const RigidBodyMotion<N,ctype> & q)
{
- Tensor3<double,embeddedDim,embeddedDim,embeddedDim> result(0);
+ Tensor3<T,embeddedDim,embeddedDim,embeddedDim> result(0);
// The linear part
- Tensor3<double,N,N,N> linearPart = RealTuple<N>::thirdDerivativeOfDistanceSquaredWRTFirst1AndSecond2Argument(p.r,q.r);
+ Tensor3<T,N,N,N> linearPart = RealTuple<N>::thirdDerivativeOfDistanceSquaredWRTFirst1AndSecond2Argument(p.r,q.r);
for (int i=0; i<N; i++)
for (int j=0; j<N; j++)
for (int k=0; k<N; k++)
result[i][j][k] = linearPart[i][j][k];
// The rotation part
- Tensor3<double,Rotation<N,T>::embeddedDim,Rotation<N,T>::embeddedDim,Rotation<N,T>::embeddedDim> rotationPart = Rotation<N,ctype>::thirdDerivativeOfDistanceSquaredWRTFirst1AndSecond2Argument(p.q,q.q);
+ Tensor3<T,Rotation<N,T>::embeddedDim,Rotation<N,T>::embeddedDim,Rotation<N,T>::embeddedDim> rotationPart = Rotation<N,ctype>::thirdDerivativeOfDistanceSquaredWRTFirst1AndSecond2Argument(p.q,q.q);
for (int i=0; i<Rotation<N,T>::embeddedDim; i++)
for (int j=0; j<Rotation<N,T>::embeddedDim; j++)
for (int k=0; k<Rotation<N,T>::embeddedDim; k++)
@@ -233,14 +233,14 @@ public:
This basis may not be globally continuous.
*/
- Dune::FieldMatrix<double,dim,embeddedDim> orthonormalFrame() const {
- Dune::FieldMatrix<double,dim,embeddedDim> result(0);
+ Dune::FieldMatrix<T,dim,embeddedDim> orthonormalFrame() const {
+ Dune::FieldMatrix<T,dim,embeddedDim> result(0);
// Get the R^d part
for (int i=0; i<N; i++)
result[i][i] = 1;
- Dune::FieldMatrix<double,Rotation<N>::dim,Rotation<N>::embeddedDim> SO3Part = q.orthonormalFrame();
+ Dune::FieldMatrix<T,Rotation<N>::dim,Rotation<N>::embeddedDim> SO3Part = q.orthonormalFrame();
for (int i=0; i<Rotation<N>::dim; i++)
for (int j=0; j<Rotation<N>::embeddedDim; j++)
diff --git a/dune/gfe/rotation.hh b/dune/gfe/rotation.hh
index 5be3c27b..4b72a1d4 100644
--- a/dune/gfe/rotation.hh
+++ b/dune/gfe/rotation.hh
@@ -503,7 +503,7 @@ public:
Dune::FieldMatrix<T,3,3> mat;
// compute the trace of the rotation matrix
- double trace = -q[0]*q[0] -q[1]*q[1] -q[2]*q[2]+3*q[3]*q[3];
+ T trace = -q[0]*q[0] -q[1]*q[1] -q[2]*q[2]+3*q[3]*q[3];
if ( (trace+1)>1e-6 || (trace+1)<-1e-6) { // if this term doesn't vanish we can use a direct formula
@@ -602,7 +602,7 @@ public:
* Then the return value of this method is
* \f[ A_{ijk} = \frac{\partial d_{i,j}}{\partial q_k} \f]
*/
- void getFirstDerivativesOfDirectors(Tensor3<double,3, 3, 4>& dd_dq) const
+ void getFirstDerivativesOfDirectors(Tensor3<T,3, 3, 4>& dd_dq) const
{
const Quaternion<T>& q = (*this);
--
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