From 78c0907aa3f6834cfa5abb19b75d5b19f1e97fdf Mon Sep 17 00:00:00 2001
From: Oliver Sander <sander@igpm.rwth-aachen.de>
Date: Mon, 22 Oct 2007 16:20:46 +0000
Subject: [PATCH] reverting the last bugfix in interpolateDerivative, which was
erroneous
[[Imported from SVN: r1710]]
---
src/quaternion.hh | 10 ++++++----
1 file changed, 6 insertions(+), 4 deletions(-)
diff --git a/src/quaternion.hh b/src/quaternion.hh
index e68760e1..293e6b82 100644
--- a/src/quaternion.hh
+++ b/src/quaternion.hh
@@ -336,19 +336,21 @@ public:
return a.mult(exp(v[0], v[1], v[2]));
}
- /** \brief Interpolate between two rotations */
+ /** \brief Interpolate between two rotations
+ \param omega must be between 0 and 1
+ */
static Quaternion<T> interpolateDerivative(const Quaternion<T>& a, const Quaternion<T>& b,
- double omega, double intervallLength) {
+ double omega, double intervalLength) {
Quaternion<T> result(0);
// Compute difference on T_a SO(3)
Dune::FieldVector<double,3> xi = difference(a,b);
- xi /= intervallLength;
-
Dune::FieldVector<double,3> v = xi;
v *= omega;
+ xi /= intervalLength;
+
// //////////////////////////////////////////////////////////////
// v now contains the derivative at 'a'. The derivative at
// the requested site is v pushed forward by Dexp.
--
GitLab