nwtc_num::dcm_setlogmapforinterp Interface Reference

This routine sets the rotation parameters (logMap tensors from dcm_logmap) so that they can be appropriately interpolated, based on continunity of the neighborhood. More...

Public Member Functions
subroutine	dcm_setlogmapforinterpr (tensor)
	This routine sets the rotation parameters (logMap tensors from dcm_logmap) so that they can be appropriately interpolated, based on continunity of the neighborhood. More...
subroutine	dcm_setlogmapforinterpd (tensor)
	This routine sets the rotation parameters (logMap tensors from dcm_logmap) so that they can be appropriately interpolated, based on continunity of the neighborhood. More...

Detailed Description

This routine sets the rotation parameters (logMap tensors from dcm_logmap) so that they can be appropriately interpolated, based on continunity of the neighborhood.

The tensor input matrix has columns of rotational parameters; one column for each set of values to be interpolated (i.e., for each column, i, tensor(:,i) is the returned logMap value from the routine dcm_logmap).

This is based on the \(2\pi\) periodicity of rotations:
if \(\lambda\) is one solution to \(\log(\Lambda)\), then so is \(\lambda_k = \lambda \left( 1 + \frac{2k\pi}{\left\| \lambda \right\|}\right)\) for any integer k.

Use DCM_SetLogMapForInterp (nwtc_num::dcm_setlogmapforinterp) instead of directly calling a specific routine in the generic interface.

Parameters

[in,out]

tensor

a 3xn matrix, whose columns represent individual skew-symmmetric matrices. On exit, each column will be within \(2\pi\) of the previous column, allowing for interpolation of the quantities.

Member Function/Subroutine Documentation

dcm_setlogmapforinterpd()

subroutine nwtc_num::dcm_setlogmapforinterp::dcm_setlogmapforinterpd

(

real(dbki), dimension(:,:), intent(inout)

tensor

)

This routine sets the rotation parameters (logMap tensors from dcm_logmap) so that they can be appropriately interpolated, based on continunity of the neighborhood.

The tensor input matrix has columns of rotational parameters; one column for each set of values to be interpolated (i.e., for each column, i, tensor(:,i) is the returned logMap value from the routine dcm_logmap).

This is based on the \(2\pi\) periodicity of rotations:
if \(\lambda\) is one solution to \(\log(\Lambda)\), then so is \(\lambda_k = \lambda \left( 1 + \frac{2k\pi}{\left\| \lambda \right\|}\right)\) for any integer k.

Use DCM_SetLogMapForInterp (nwtc_num::dcm_setlogmapforinterp) instead of directly calling a specific routine in the generic interface.

Parameters

[in,out]

tensor

a 3xn matrix, whose columns represent individual skew-symmmetric matrices. On exit, each column will be within \(2\pi\) of the previous column, allowing for interpolation of the quantities.

dcm_setlogmapforinterpr()

subroutine nwtc_num::dcm_setlogmapforinterp::dcm_setlogmapforinterpr

(

real(reki), dimension(:,:), intent(inout)

tensor

)

This routine sets the rotation parameters (logMap tensors from dcm_logmap) so that they can be appropriately interpolated, based on continunity of the neighborhood.

The tensor input matrix has columns of rotational parameters; one column for each set of values to be interpolated (i.e., for each column, i, tensor(:,i) is the returned logMap value from the routine dcm_logmap).

This is based on the \(2\pi\) periodicity of rotations:
if \(\lambda\) is one solution to \(\log(\Lambda)\), then so is \(\lambda_k = \lambda \left( 1 + \frac{2k\pi}{\left\| \lambda \right\|}\right)\) for any integer k.

Use DCM_SetLogMapForInterp (nwtc_num::dcm_setlogmapforinterp) instead of directly calling a specific routine in the generic interface.

Parameters

[in,out]

tensor

a 3xn matrix, whose columns represent individual skew-symmmetric matrices. On exit, each column will be within \(2\pi\) of the previous column, allowing for interpolation of the quantities.

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The documentation for this interface was generated from the following file:

• NWTC_Num.f90