Embedding-based interpolation on the special orthogonal group

DOI10.1137/17M1129416MaRDI QIDQ4607641zbMATH OpenOpenAlexWikidataFDO

Authors Evan S. Gawlik, Melvin Leok

Publication date 14 March 2018

Published in SIAM Journal on Scientific Computing (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1608.05738

zbMATH Keywords

iterative algorithmoptimal controlLie groupspecial orthogonal groupmanifold-valued functionRiemannian cubicrotation interpolationgeodesic finite elementminimum acceleration curves

Mathematics Subject Classification ID

Numerical interpolation (65D05) Computer-aided design (modeling of curves and surfaces) (65D17) Finite element, Rayleigh-Ritz and Galerkin methods for boundary value problems involving PDEs (65N30)

Abstract: We study schemes for interpolating functions that take values in the special orthogonal group $SO(n)$. Our focus is on interpolation schemes obtained by embedding $SO(n)$ in a linear space, interpolating in the linear space, and mapping the result onto $SO(n)$ via the closest point projection. The resulting interpolants inherit both the order of accuracy and the regularity of the underlying interpolants on the linear space. The values and derivatives of the interpolants admit efficient evaluation via either explicit formulas or iterative algorithms, which we detail for two choices of embeddings: the embedding of $SO(n)$ in the space of $nimesn$ matrices and, when $n=3$, the identification of $SO(3)$ with the set of unit quaternions. Along the way, we point out a connection between these interpolation schemes and geodesic finite elements. We illustrate the utility of these interpolation schemes by numerically computing minimum acceleration curves on $SO(n)$, a task which is handled naturally with $SO(n)$-valued finite elements having $C^1$-continuity.

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Cited in

(14)

• Galerkin Lie-group variational integrators based on unit quaternion interpolation
• On the global interpolation of motion
• Approximating the derivative of manifold-valued functions
• Fast closest logarithm algorithm in the special orthogonal group
• Interpolation in special orthogonal groups
• Geometric finite elements
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• Spectral collocation methods for the periodic solution of flexible multibody dynamics
• A projection-based quaternion discretization of the geometrically exact beam model
• A projection-based characteristic mapping method for tracer transport on the sphere
• Projection-based finite elements for nonlinear function spaces

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• mftoolbox

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