From 82e985f093c067a65b1ba0014114902ad139721e Mon Sep 17 00:00:00 2001
From: Oliver Sander <sander@igpm.rwth-aachen.de>
Date: Fri, 15 Jul 2011 09:10:23 +0000
Subject: [PATCH] move method getFirstDerivativesOfDirectors into the rotation
class. It does not make sense for general quaternions
[[Imported from SVN: r7562]]
---
dune/gfe/quaternion.hh | 18 ------------------
dune/gfe/rotation.hh | 20 +++++++++++++++++++-
2 files changed, 19 insertions(+), 19 deletions(-)
diff --git a/dune/gfe/quaternion.hh b/dune/gfe/quaternion.hh
index b518c325..df69b26b 100644
--- a/dune/gfe/quaternion.hh
+++ b/dune/gfe/quaternion.hh
@@ -96,24 +96,6 @@ public:
return d;
}
- void getFirstDerivativesOfDirectors(Tensor3<double,3, 3, 4>& 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];
-
- }
-
/** \brief Turn quaternion into a unit quaternion by dividing by its Euclidean norm */
void normalize() {
(*this) /= this->two_norm();
diff --git a/dune/gfe/rotation.hh b/dune/gfe/rotation.hh
index 443bb28c..e97c6638 100644
--- a/dune/gfe/rotation.hh
+++ b/dune/gfe/rotation.hh
@@ -15,7 +15,7 @@
#include <dune/gfe/unitvector.hh>
-template <int dim, class T>
+template <int dim, class T=double>
class Rotation
{
@@ -469,6 +469,24 @@ public:
return v;
}
+
+ void getFirstDerivativesOfDirectors(Tensor3<double,3, 3, 4>& 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];
+
+ }
static EmbeddedTangentVector derivativeOfDistanceSquaredWRTSecondArgument(const Rotation<3,T>& p,
const Rotation<3,T>& q) {
--
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