From 70e0a85ba7384ae4e3c18e0552e81eb428203a00 Mon Sep 17 00:00:00 2001
From: Oliver Sander <sander@igpm.rwth-aachen.de>
Date: Mon, 13 Aug 2007 15:01:35 +0000
Subject: [PATCH] static method exp() which takes a FieldVector
[[Imported from SVN: r1502]]
---
src/quaternion.hh | 6 ++++++
1 file changed, 6 insertions(+)
diff --git a/src/quaternion.hh b/src/quaternion.hh
index 58aa4722..722d96ee 100644
--- a/src/quaternion.hh
+++ b/src/quaternion.hh
@@ -53,6 +53,12 @@ public:
return id;
}
+ /** \brief The exponential map from \f$ \mathfrak{so}(3) \f$ to \f$ SO(3) \f$
+ */
+ static Quaternion<T> exp(const Dune::FieldVector<T,3>& v) {
+ return exp(v[0], v[1], v[2]);
+ }
+
/** \brief The exponential map from \f$ \mathfrak{so}(3) \f$ to \f$ SO(3) \f$
*/
static Quaternion<T> exp(const T& v0, const T& v1, const T& v2) {
--
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