From 765b1e8cf08b91b969ac6599d78994765ed26d68 Mon Sep 17 00:00:00 2001
From: Oliver Sander <sander@igpm.rwth-aachen.de>
Date: Tue, 14 Aug 2007 09:05:27 +0000
Subject: [PATCH] derivatives of the directors with respect to q
[[Imported from SVN: r1503]]
---
src/quaternion.hh | 18 ++++++++++++++++++
1 file changed, 18 insertions(+)
diff --git a/src/quaternion.hh b/src/quaternion.hh
index 722d96ee..89af3afc 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);
--
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