From f47ed0f57a47e6d01fa3f2bd50adba050602c24f Mon Sep 17 00:00:00 2001
From: Oliver Sander <sander@igpm.rwth-aachen.de>
Date: Wed, 8 Apr 2009 09:00:49 +0000
Subject: [PATCH] use Rotation instead of Quaternion
[[Imported from SVN: r3989]]
---
test/fdcheck.hh | 16 ++++++++--------
1 file changed, 8 insertions(+), 8 deletions(-)
diff --git a/test/fdcheck.hh b/test/fdcheck.hh
index 09159862..c6ecb58a 100644
--- a/test/fdcheck.hh
+++ b/test/fdcheck.hh
@@ -8,7 +8,7 @@ void infinitesimalVariation(Configuration& c, double eps, int i)
if (i<3)
c.r[i] += eps;
else
- c.q = c.q.mult(Quaternion<double>::exp((i==3)*eps,
+ c.q = c.q.mult(Rotation<3,double>::exp((i==3)*eps,
(i==4)*eps,
(i==5)*eps));
}
@@ -263,9 +263,9 @@ void expHessianFD()
// - 2*assembler.computeEnergy(x)
// + assembler.computeEnergy(backward)) / (eps*eps);
- hessian = Quaternion<double>::exp(forward);
- hessian += Quaternion<double>::exp(backward);
- hessian.axpy(-2, Quaternion<double>::exp(0,0,0));
+ hessian = Rotation<3,double>::exp(forward);
+ hessian += Rotation<3,double>::exp(backward);
+ hessian.axpy(-2, Rotation<3,double>::exp(0,0,0));
hessian /= eps*eps;
} else {
@@ -283,10 +283,10 @@ void expHessianFD()
backwardBackward[j] -= eps;
- hessian = Quaternion<double>::exp(forwardForward);
- hessian += Quaternion<double>::exp(backwardBackward);
- hessian -= Quaternion<double>::exp(forwardBackward);
- hessian -= Quaternion<double>::exp(backwardForward);
+ hessian = Rotation<3,double>::exp(forwardForward);
+ hessian += Rotation<3,double>::exp(backwardBackward);
+ hessian -= Rotation<3,double>::exp(forwardBackward);
+ hessian -= Rotation<3,double>::exp(backwardForward);
hessian /= 4*eps*eps;
}
--
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