From ebad93841d1939e36111d39a31454d2cdb5f28a7 Mon Sep 17 00:00:00 2001
From: Oliver Sander <sander@igpm.rwth-aachen.de>
Date: Wed, 12 Oct 2011 16:52:14 +0000
Subject: [PATCH] Remove exp method with three scalar arguments.
It seems dangerous: I tend to get confused what these arguments
are. Plus, the method is unused.
[[Imported from SVN: r7890]]
---
dune/gfe/rotation.hh | 17 ++++++-----------
1 file changed, 6 insertions(+), 11 deletions(-)
diff --git a/dune/gfe/rotation.hh b/dune/gfe/rotation.hh
index 10b28c4c..cea7720d 100644
--- a/dune/gfe/rotation.hh
+++ b/dune/gfe/rotation.hh
@@ -218,15 +218,9 @@ public:
/** \brief The exponential map from \f$ \mathfrak{so}(3) \f$ to \f$ SO(3) \f$
*/
static Rotation<3,T> exp(const Dune::FieldVector<T,3>& v) {
- return exp(v[0], v[1], v[2]);
- }
-
- /** \brief The exponential map from \f$ \mathfrak{so}(3) \f$ to \f$ SO(3) \f$
- */
- static Rotation<3,T> exp(const T& v0, const T& v1, const T& v2) {
Rotation<3,T> q;
- T normV = std::sqrt(v0*v0 + v1*v1 + v2*v2);
+ T normV = v.two_norm();
// Stabilization for small |v| due to Grassia
T sin = sincHalf(normV);
@@ -234,14 +228,15 @@ public:
// if normV == 0 then q = (0,0,0,1)
assert(!isnan(sin));
- q[0] = sin * v0;
- q[1] = sin * v1;
- q[2] = sin * v2;
+ q[0] = sin * v[0];
+ q[1] = sin * v[1];
+ q[2] = sin * v[2];
q[3] = std::cos(normV/2);
return q;
}
+
/** \brief The exponential map from a given point $p \in SO(3)$. */
static Rotation<3,T> exp(const Rotation<3,T>& p, const TangentVector& v) {
Rotation<3,T> corr = exp(v);
@@ -579,7 +574,7 @@ public:
v *= omega;
- return a.mult(exp(v[0], v[1], v[2]));
+ return a.mult(exp(v));
}
/** \brief Interpolate between two rotations
--
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