From fb087f61567611f10d64c159e6967de5431f29fe Mon Sep 17 00:00:00 2001
From: Oliver Sander <sander@igpm.rwth-aachen.de>
Date: Wed, 29 Apr 2009 08:53:16 +0000
Subject: [PATCH] remove obsolete interpolation method
[[Imported from SVN: r4116]]
---
src/rotation.hh | 29 -----------------------------
1 file changed, 29 deletions(-)
diff --git a/src/rotation.hh b/src/rotation.hh
index 7c09a4e5..dd01e919 100644
--- a/src/rotation.hh
+++ b/src/rotation.hh
@@ -288,8 +288,6 @@ public:
/** \brief Interpolate between two rotations
\param omega must be between 0 and 1
- \todo I'd say this method is incorrect and is other one is correct.
- The solver works much better with this one, though. I don't get it.
*/
static Quaternion<T> interpolateDerivative(const Rotation<3,T>& a, const Rotation<3,T>& b,
double omega) {
@@ -313,33 +311,6 @@ public:
return a.Quaternion<T>::mult(result);
}
- /** \brief Interpolate between two rotations
- \param omega must be between 0 and 1
- */
- static Quaternion<T> interpolateDerivative(const Quaternion<T>& a, const Quaternion<T>& b,
- double omega, double intervalLength) {
- Quaternion<T> result(0);
-
- // Compute difference on T_a SO(3)
- Dune::FieldVector<double,3> xi = difference(a,b);
-
- xi /= intervalLength;
-
- Dune::FieldVector<double,3> v = xi;
- v *= omega;
-
- // //////////////////////////////////////////////////////////////
- // v now contains the derivative at 'a'. The derivative at
- // the requested site is v pushed forward by Dexp.
- // /////////////////////////////////////////////////////////////
-
- Dune::FieldMatrix<double,4,3> diffExp = Dexp(v);
-
- diffExp.umv(xi,result);
-
- return a.mult(result);
- }
-
/** \brief Return the corresponding orthogonal matrix */
void matrix(Dune::FieldMatrix<T,3,3>& m) const {
--
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