diff --git a/src/quaternion.hh b/src/quaternion.hh index 722d96ee1eac054e1784288aaf0c04d36d750ab5..89af3afc24bf82f22e812286c7d30457a9a3e5f0 100644 --- a/src/quaternion.hh +++ b/src/quaternion.hh @@ -139,6 +139,24 @@ public: return d; } + void getFirstDerivativesOfDirectors(Dune::array<Dune::FieldMatrix<double,3 , 4>, 3>& dd_dq) const + { + const Quaternion<T>& q = (*this); + + dd_dq[0][0][0] = 2*q[0]; dd_dq[0][0][1] = -2*q[1]; dd_dq[0][0][2] = -2*q[2]; dd_dq[0][0][3] = 2*q[3]; + dd_dq[0][1][0] = 2*q[1]; dd_dq[0][1][1] = 2*q[0]; dd_dq[0][1][2] = 2*q[3]; dd_dq[0][1][3] = 2*q[2]; + dd_dq[0][2][0] = 2*q[2]; dd_dq[0][2][1] = -2*q[3]; dd_dq[0][2][2] = 2*q[0]; dd_dq[0][2][3] = -2*q[1]; + + dd_dq[1][0][0] = 2*q[1]; dd_dq[1][0][1] = 2*q[0]; dd_dq[1][0][2] = -2*q[3]; dd_dq[1][0][3] = -2*q[2]; + dd_dq[1][1][0] = -2*q[0]; dd_dq[1][1][1] = 2*q[1]; dd_dq[1][1][2] = -2*q[2]; dd_dq[1][1][3] = 2*q[3]; + dd_dq[1][2][0] = 2*q[3]; dd_dq[1][2][1] = 2*q[2]; dd_dq[1][2][2] = 2*q[1]; dd_dq[1][2][3] = 2*q[0]; + + dd_dq[2][0][0] = 2*q[2]; dd_dq[2][0][1] = 2*q[3]; dd_dq[2][0][2] = 2*q[0]; dd_dq[2][0][3] = 2*q[1]; + dd_dq[2][1][0] = -2*q[3]; dd_dq[2][1][1] = 2*q[2]; dd_dq[2][1][2] = 2*q[1]; dd_dq[2][1][3] = -2*q[0]; + dd_dq[2][2][0] = -2*q[0]; dd_dq[2][2][1] = -2*q[1]; dd_dq[2][2][2] = 2*q[2]; dd_dq[2][2][3] = 2*q[3]; + + } + void getFirstDerivativesOfDirectors(Dune::array<Dune::array<Dune::FieldVector<double,3>, 3>, 3>& dd_dvj) const { const Quaternion<T>& q = (*this);