From bd708beb94d5545e13c81de74216d12ac7b813c8 Mon Sep 17 00:00:00 2001
From: Oliver Sander <sander@igpm.rwth-aachen.de>
Date: Mon, 30 May 2011 06:39:31 +0000
Subject: [PATCH] added empty methods to be able to at least compile the gfe
assembler for a RigidBodyMotion class
[[Imported from SVN: r7342]]
---
dune/gfe/rigidbodymotion.hh | 59 +++++++++++++++++++++++++++++++++++++
1 file changed, 59 insertions(+)
diff --git a/dune/gfe/rigidbodymotion.hh b/dune/gfe/rigidbodymotion.hh
index 0aa861ef..34576b64 100644
--- a/dune/gfe/rigidbodymotion.hh
+++ b/dune/gfe/rigidbodymotion.hh
@@ -101,6 +101,65 @@ struct RigidBodyMotion
return concat(linearDerivative, rotationDerivative);
}
+
+ /** \brief Compute the Hessian of the squared distance function keeping the first argument fixed */
+ static Dune::FieldMatrix<double,7,7> secondDerivativeOfDistanceSquaredWRTSecondArgument(const RigidBodyMotion<dim,ctype> & p, const RigidBodyMotion<dim,ctype> & q) {
+ DUNE_THROW(Dune::NotImplemented, "!");
+ }
+
+ /** \brief Compute the mixed second derivate \partial d^2 / \partial da db
+
+ Unlike the distance itself the squared distance is differentiable at zero
+ */
+ static Dune::FieldMatrix<double,7,7> secondDerivativeOfDistanceSquaredWRTFirstAndSecondArgument(const RigidBodyMotion<dim,ctype> & p, const RigidBodyMotion<dim,ctype> & q) {
+ DUNE_THROW(Dune::NotImplemented, "!");
+ }
+
+ /** \brief Compute the third derivative \partial d^3 / \partial dq^3
+
+ Unlike the distance itself the squared distance is differentiable at zero
+ */
+ static Tensor3<double,7,7,7> thirdDerivativeOfDistanceSquaredWRTSecondArgument(const RigidBodyMotion<dim,ctype> & p, const RigidBodyMotion<dim,ctype> & q) {
+ DUNE_THROW(Dune::NotImplemented, "!");
+ }
+
+ /** \brief Compute the mixed third derivative \partial d^3 / \partial da db^2
+
+ Unlike the distance itself the squared distance is differentiable at zero
+ */
+ static Tensor3<double,7,7,7> thirdDerivativeOfDistanceSquaredWRTFirst1AndSecond2Argument(const RigidBodyMotion<dim,ctype> & p, const RigidBodyMotion<dim,ctype> & q) {
+ DUNE_THROW(Dune::NotImplemented, "!");
+ }
+
+
+
+ /** \brief Project tangent vector of R^n onto the tangent space */
+ EmbeddedTangentVector projectOntoTangentSpace(const EmbeddedTangentVector& v) const {
+ DUNE_THROW(Dune::NotImplemented, "!");
+ }
+
+
+ /** \brief Compute an orthonormal basis of the tangent space of SE(3).
+
+ This basis is of course not globally continuous.
+ */
+ Dune::FieldMatrix<double,6,7> orthonormalFrame() const {
+ Dune::FieldMatrix<double,6,7> result(0);
+
+ // Get the R^d part
+ for (int i=0; i<dim; i++)
+ result[i][i] = 1;
+
+ Dune::FieldMatrix<double,3,4> SO3Part = q.orthonormalFrame();
+
+ for (int i=0; i<dim; i++)
+ for (int j=0; j<4; j++)
+ result[3+i][3+j] = SO3Part[i][j];
+
+ return result;
+ }
+
+
// Translational part
Dune::FieldVector<ctype, dim> r;
--
GitLab