From fb12a894f9e0c1b243f301cce73df476ab2eb4cc Mon Sep 17 00:00:00 2001
From: Oliver Sander <sander@igpm.rwth-aachen.de>
Date: Fri, 3 Aug 2007 13:55:47 +0000
Subject: [PATCH] compute the difference between to rods on the configuration
tangent space of on of them
[[Imported from SVN: r1469]]
---
src/roddifference.hh | 30 ++++++++++++++++++++++++++++++
1 file changed, 30 insertions(+)
create mode 100644 src/roddifference.hh
diff --git a/src/roddifference.hh b/src/roddifference.hh
new file mode 100644
index 00000000..ab32cb6f
--- /dev/null
+++ b/src/roddifference.hh
@@ -0,0 +1,30 @@
+#ifndef ROD_DIFFERENCE_HH
+#define ROD_DIFFERENCE_HH
+
+Dune::BlockVector<Dune::FieldVector<double,6> > computeRodDifference(const std::vector<Configuration>& a,
+ const std::vector<Configuration>& b)
+{
+ if (a.size() != b.size())
+ DUNE_THROW(Dune::Exception, "a and b have to have the same length!");
+
+ Dune::BlockVector<Dune::FieldVector<double,6> > result(a.size());
+
+ for (size_t i=0; i<result.size(); i++) {
+
+ // Subtract centerline position
+ for (int j=0; j<3; j++)
+ result[i][j] = a[i].r[j] - b[i].r[j];
+
+ // Subtract orientations on the tangent space of 'a'
+ Dune::FieldVector<double,3> v = Quaternion<double>::difference(a[i].q, b[i].q);
+
+ // Compute difference on T_a SO(3)
+ for (int j=0; j<3; j++)
+ result[i][j+3] = v[j];
+
+ }
+
+ return result;
+}
+
+#endif
--
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