From 8b4d278d3d3e2cffd0fb04601b3d38b17083e7e5 Mon Sep 17 00:00:00 2001
From: Oliver Sander <sander@igpm.rwth-aachen.de>
Date: Fri, 5 Jan 2007 11:08:29 +0000
Subject: [PATCH] bugfix in interpolateDerivate and a unit test for the same
method
[[Imported from SVN: r1118]]
---
src/quaternion.hh | 15 +++++++++++++++
1 file changed, 15 insertions(+)
diff --git a/src/quaternion.hh b/src/quaternion.hh
index 00fb41d0..ddd55033 100644
--- a/src/quaternion.hh
+++ b/src/quaternion.hh
@@ -235,6 +235,21 @@ public:
result[0] = result[1] = result[2] = result[3] = 0;
diffExp.umv(der,result);
+
+ result = a.mult(result);
+
+ double eps = 1e-6;
+ Quaternion<T> fdResult = interpolate(a,b, omega+eps);
+ fdResult -= interpolate(a,b, omega-eps);
+ fdResult /= 2*eps;
+ fdResult /= intervallLength;
+
+ if ((result-fdResult).two_norm() > 1e-4) {
+ std::cout << "Wrong interpolation:\n";
+ std::cout << "Analytical: " << result << " fd: " << fdResult << std::endl;
+ abort();
+ }
+
#endif
//std::cout << result << std::endl;
return result;
--
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