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DAMASK_EICMD
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inverse of a quaternion

This commit is contained in:
Martin Diehl 2020-01-11 04:15:51 +01:00
parent 115716b8c2
commit de95ca5906
1 changed files with 28 additions and 10 deletions
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38
src/quaternions.f90
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@ -82,12 +82,13 @@ module quaternions
procedure, public :: conjg__
procedure, public :: exp__
procedure, public :: log__
procedure, public :: homomorphed => quat_homomorphed
procedure, public :: asArray
procedure, public :: real => real__
procedure, public :: aimag => aimag__
procedure, public :: homomorphed
procedure, public :: asArray
procedure, public :: inverse
end type
interface assignment (=)
@ -137,7 +138,6 @@ contains
!> @brief do self test
!--------------------------------------------------------------------------------------------------
subroutine quaternions_init
write(6,'(/,a)') ' <<<+- quaternions init -+>>>'; flush(6)
call unitTest
@ -419,13 +419,13 @@ end function conjg__
!---------------------------------------------------------------------------------------------------
!> homomorph
!---------------------------------------------------------------------------------------------------
type(quaternion) elemental pure function quat_homomorphed(self)
type(quaternion) elemental pure function homomorphed(self)
class(quaternion), intent(in) :: self
quat_homomorphed = - self
homomorphed = - self
end function quat_homomorphed
end function homomorphed
!---------------------------------------------------------------------------------------------------
@ -467,6 +467,18 @@ pure function aimag__(self)
end function aimag__
!---------------------------------------------------------------------------------------------------
!> inverse
!---------------------------------------------------------------------------------------------------
type(quaternion) elemental pure function inverse(self)
class(quaternion), intent(in) :: self
inverse = conjg(self)/abs(self)**2.0_pReal
end function inverse
!--------------------------------------------------------------------------------------------------
!> @brief check correctness of (some) quaternions functions
!--------------------------------------------------------------------------------------------------
@ -478,7 +490,7 @@ subroutine unitTest
call random_number(qu)
qu = (qu-0.5_pReal) * 2.0_pReal
q = quaternion(qu)
q_2= qu
if(any(dNeq(q%asArray(),q_2%asArray()))) call IO_error(401,ext_msg='assign_vec__')
@ -515,9 +527,15 @@ subroutine unitTest
if(dNeq(q_2%real(), q%real())) call IO_error(401,ext_msg='conjg/real')
if(any(dNeq(q_2%aimag(),q%aimag()*(-1.0_pReal)))) call IO_error(401,ext_msg='conjg/aimag')
if(abs(q) > 0.0_pReal) then
q_2 = q * q%inverse()
if( dNeq(real(q_2), 1.0_pReal,1.0e-15_pReal)) call IO_error(401,ext_msg='inverse/real')
if(any(dNeq0(aimag(q_2), 1.0e-15_pReal))) call IO_error(401,ext_msg='inverse/aimag')
endif
if (norm2(aimag(q)) * abs(real(q)) > 0.0_pReal) then
if (dNeq0(abs(q-exp(log(q))),1.0e-12_pReal)) call IO_error(401,ext_msg='exp/log')
if (dNeq0(abs(q-log(exp(q))),1.0e-12_pReal)) call IO_error(401,ext_msg='log/exp')
if (dNeq0(abs(q-exp(log(q))),1.0e-13_pReal)) call IO_error(401,ext_msg='exp/log')
if (dNeq0(abs(q-log(exp(q))),1.0e-13_pReal)) call IO_error(401,ext_msg='log/exp')
endif
end subroutine unitTest