From e49aa4743000df5786cfe370ca323fae84f1efbe Mon Sep 17 00:00:00 2001
From: Oliver Sander <sander@igpm.rwth-aachen.de>
Date: Wed, 4 Jan 2012 10:52:15 +0000
Subject: [PATCH] Revert last patch---it was a bad idea. Even though
multiplication of Rotations is the same thing as multiplication of
Quaternions, in the first case the output is a Rotation class, and in the
second on a Quaternion class.
[[Imported from SVN: r8343]]
---
dune/gfe/rotation.hh | 11 +++++++++++
1 file changed, 11 insertions(+)
diff --git a/dune/gfe/rotation.hh b/dune/gfe/rotation.hh
index ff76ed67..f05cb2c2 100644
--- a/dune/gfe/rotation.hh
+++ b/dune/gfe/rotation.hh
@@ -208,6 +208,17 @@ public:
return id;
}
+ /** \brief Right multiplication */
+ Rotation<T,3> mult(const Rotation<T,3>& other) const {
+ Rotation<T,3> q;
+ q[0] = (*this)[3]*other[0] - (*this)[2]*other[1] + (*this)[1]*other[2] + (*this)[0]*other[3];
+ q[1] = (*this)[2]*other[0] + (*this)[3]*other[1] - (*this)[0]*other[2] + (*this)[1]*other[3];
+ q[2] = - (*this)[1]*other[0] + (*this)[0]*other[1] + (*this)[3]*other[2] + (*this)[2]*other[3];
+ q[3] = - (*this)[0]*other[0] - (*this)[1]*other[1] - (*this)[2]*other[2] + (*this)[3]*other[3];
+
+ return q;
+ }
+
/** \brief The exponential map from \f$ \mathfrak{so}(3) \f$ to \f$ SO(3) \f$
*/
static Rotation<T,3> exp(const SkewMatrix<T,3>& v) {
--
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