From cd5ddf7c586a15598195eba0ba0553a93cab809f Mon Sep 17 00:00:00 2001
From: Oliver Sander <sander@igpm.rwth-aachen.de>
Date: Fri, 17 Apr 2009 14:20:57 +0000
Subject: [PATCH] Rename this to computeGeodesicDifference and add support for
Rotation<3,double>
Todo: The target space should really be a template parameter!
[[Imported from SVN: r4028]]
---
src/geodesicdifference.hh | 22 ++++++++++++++++++++--
1 file changed, 20 insertions(+), 2 deletions(-)
diff --git a/src/geodesicdifference.hh b/src/geodesicdifference.hh
index eac08f72..c3bbf8e0 100644
--- a/src/geodesicdifference.hh
+++ b/src/geodesicdifference.hh
@@ -3,8 +3,8 @@
#include "rigidbodymotion.hh"
-Dune::BlockVector<Dune::FieldVector<double,6> > computeRodDifference(const std::vector<RigidBodyMotion<3> >& a,
- const std::vector<RigidBodyMotion<3> >& b)
+Dune::BlockVector<Dune::FieldVector<double,6> > computeGeodesicDifference(const std::vector<RigidBodyMotion<3> >& a,
+ const std::vector<RigidBodyMotion<3> >& b)
{
if (a.size() != b.size())
DUNE_THROW(Dune::Exception, "a and b have to have the same length!");
@@ -29,4 +29,22 @@ Dune::BlockVector<Dune::FieldVector<double,6> > computeRodDifference(const std::
return result;
}
+Dune::BlockVector<Dune::FieldVector<double,3> > computeGeodesicDifference(const std::vector<Rotation<3,double> >& a,
+ const std::vector<Rotation<3,double> >& b)
+{
+ if (a.size() != b.size())
+ DUNE_THROW(Dune::Exception, "a and b have to have the same length!");
+
+ Dune::BlockVector<Dune::FieldVector<double,3> > result(a.size());
+
+ for (size_t i=0; i<result.size(); i++) {
+
+ // Subtract orientations on the tangent space of 'a'
+ result[i] = Rotation<3,double>::difference(a[i], b[i]);
+
+ }
+
+ return result;
+}
+
#endif
--
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