Merge branch 'master' into master

73 files changed, 616 insertions, 0 deletions

diff --git a/vorlesungen/slides/7/images/Makefile b/vorlesungen/slides/7/images/Makefile
new file mode 100644
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+#
+# Makefile -- Illustrationen zu 
+#
+# (c) 2021 Prof Dr Andreas Müller, OST Ostschweizer Fachhochschule
+# 
+all:	rodriguez.jpg  test.png
+
+rodriguez.png:	rodriguez.pov
+	povray +A0.1 -W1920 -H1080 -Orodriguez.png rodriguez.pov
+
+rodriguez.jpg:	rodriguez.png 
+	convert -extract 1740x1070+135+10 rodriguez.png rodriguez.jpg
+
+commutator:	commutator.ini commutator.pov common.inc
+	povray +A0.1 -W1920 -H1080 -Oc/c.png commutator.ini
+jpg:
+	for f in c/c*.png; do convert $${f} c/`basename $${f} .png`.jpg; done
+
+dreibein/timestamp:	interpolation.m
+	octave interpolation.m
+	touch dreibein/timestamp
+
+test.png:	test.pov drehung.inc dreibein/d025.inc dreibein/timestamp
+	povray +A0.1 -W1080 -H1080 -Otest.png test.pov
+
+dreibein/d025.inc:	dreibein/timestamp
+
+animation:
+	povray +A0.1 -W1080 -H1080 -Ointerpolation/i.png interpolation.ini
diff --git a/vorlesungen/slides/7/images/c/c01.jpg b/vorlesungen/slides/7/images/c/c01.jpg
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diff --git a/vorlesungen/slides/7/images/c/c58.jpg b/vorlesungen/slides/7/images/c/c58.jpg
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+++ b/vorlesungen/slides/7/images/c/c58.jpg
diff --git a/vorlesungen/slides/7/images/c/c59.jpg b/vorlesungen/slides/7/images/c/c59.jpg
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diff --git a/vorlesungen/slides/7/images/c/c60.jpg b/vorlesungen/slides/7/images/c/c60.jpg
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diff --git a/vorlesungen/slides/7/images/common.inc b/vorlesungen/slides/7/images/common.inc
new file mode 100644
index 0000000..0e27c9a
--- /dev/null
+++ b/vorlesungen/slides/7/images/common.inc
@@ -0,0 +1,70 @@
+//
+// common.inc
+//
+// (c) 2021 Prof Dr Andreas Müller, OST Ostschweizer Fachhochschule
+//
+#version 3.7;
+#include "colors.inc"
+
+global_settings {
+	assumed_gamma 1
+}
+
+#declare imagescale = 0.025;
+#declare O = <0, 0, 0>;
+#declare at = 0.015;
+
+camera {
+	location <18, 15, -50>
+	look_at <0.0, 0.5, 0>
+	right 16/9 * x * imagescale
+	up y * imagescale
+}
+
+light_source {
+	<-40, 30, -50> color White
+	area_light <1,0,0> <0,0,1>, 10, 10
+	adaptive 1
+	jitter
+}
+
+sky_sphere {
+	pigment {
+		color rgb<1,1,1>
+	}
+}
+
+#macro arrow(from, to, arrowthickness, c)
+#declare arrowdirection = vnormalize(to - from);
+#declare arrowlength = vlength(to - from);
+union { 
+	sphere {
+		from, 1.1 * arrowthickness
+	}
+	cylinder {
+		from,
+		from + (arrowlength - 5 * arrowthickness) * arrowdirection,
+		arrowthickness
+	}
+	cone {  
+		from + (arrowlength - 5 * arrowthickness) * arrowdirection,
+		2 * arrowthickness,
+		to,
+		0
+	}
+	pigment {
+		color c
+	}
+	finish {
+		specular 0.9
+		metallic
+	}
+}
+#end
+
+#declare l = 1.2;
+
+arrow(< -l,  0,  0 >, < l, 0, 0 >, at, White)
+arrow(<  0,  0, -l >, < 0, 0, l >, at, White)
+arrow(<  0, -l,  0 >, < 0, l, 0 >, at, White)
+
diff --git a/vorlesungen/slides/7/images/commutator.ini b/vorlesungen/slides/7/images/commutator.ini
new file mode 100644
index 0000000..8c2211e
--- /dev/null
+++ b/vorlesungen/slides/7/images/commutator.ini
@@ -0,0 +1,8 @@
+Input_File_Name=commutator.pov
+Initial_Frame=1
+Final_Frame=60
+Initial_Clock=1
+Final_Clock=60
+Cyclic_Animation=off
+Pause_when_Done=off
+
diff --git a/vorlesungen/slides/7/images/commutator.m b/vorlesungen/slides/7/images/commutator.m
new file mode 100644
index 0000000..5a448db
--- /dev/null
+++ b/vorlesungen/slides/7/images/commutator.m
@@ -0,0 +1,111 @@
+#
+# commutator.m
+#
+# (c) 2021 Prof Dr Andreas Müller, OST Ostschweizer Fachhochschule
+#
+
+X = [
+	0, 0,  0;
+	0, 0, -1;
+	0, 1,  0
+];
+
+Y = [
+	 0, 0, 1;
+	 0, 0, 0;
+	-1, 0, 0
+];
+
+Z = [
+	0, -1, 0;
+	1,  0, 0;
+	0,  0, 0
+];
+
+function retval = Dx(alpha)
+	retval = [
+		1, 0,           0         ;
+		0, cos(alpha), -sin(alpha);
+		0, sin(alpha),  cos(alpha)
+	];
+end
+
+function retval = Dy(beta)
+	retval = [
+		 cos(beta), 0, sin(beta);
+		 0,         1, 0        ;
+		-sin(beta), 0, cos(beta)
+	];
+end
+
+t = 0.9;
+P = Dx(t) * Dy(t)
+Q = Dy(t) * Dx(t)
+P - Q
+(P - Q) * [0;0;1]
+
+function	retval = kurven(filename, t)
+	retval = -1;
+	N = 20;
+	fn = fopen(filename, "w");
+	fprintf(fn, "//\n");
+	fprintf(fn, "// %s\n", filename);
+	fprintf(fn, "//\n");
+	fprintf(fn, "#macro XYkurve()\n");
+	for i = (0:N-1)
+		v1 = Dx(t * i / N) * [0;0;1];
+		v2 = Dx(t * (i+1) / N) * [0;0;1];
+		fprintf(fn, "sphere { <%.4f,%.4f,%.4f>, at }\n",
+			v1(1,1), v1(3,1), v1(2,1));
+		fprintf(fn, "cylinder { <%.4f,%.4f,%.4f>, <%.4f, %.4f, %.4f>, at }\n",
+			v1(1,1), v1(3,1), v1(2,1), v2(1,1), v2(3,1), v2(2,1));
+	end
+	for i = (0:N-1)
+		v1 = Dx(t) * Dy(t * i / N) * [0;0;1];
+		v2 = Dx(t) * Dy(t * (i+1) / N) * [0;0;1];
+		fprintf(fn, "sphere { <%.4f,%.4f,%.4f>, at }\n",
+			v1(1,1), v1(3,1), v1(2,1));
+		fprintf(fn, "cylinder { <%.4f,%.4f,%.4f>, <%.4f, %.4f, %.4f>, at }\n",
+			v1(1,1), v1(3,1), v1(2,1), v2(1,1), v2(3,1), v2(2,1));
+	end
+	fprintf(fn, "sphere { <%.4f,%.4f,%.4f>, at }\n",
+		v2(1,1), v2(3,1), v2(2,1));
+	fprintf(fn, "#end\n");
+	fprintf(fn, "#declare finalXY = <%.4f, %.4f, %.4f>;\n",
+		v2(1,1), v2(3,1), v2(2,1));
+	fprintf(fn, "#macro YXkurve()\n");
+	for i = (0:N-1)
+		v1 = Dy(t * i / N) * [0;0;1];
+		v2 = Dy(t * (i+1) / N) * [0;0;1];
+		fprintf(fn, "sphere { <%.4f,%.4f,%.4f>, at }\n",
+			v1(1,1), v1(3,1), v1(2,1));
+		fprintf(fn, "cylinder { <%.4f,%.4f,%.4f>, <%.4f, %.4f, %.4f>, at }\n",
+			v1(1,1), v1(3,1), v1(2,1), v2(1,1), v2(3,1), v2(2,1));
+	end
+	for i = (0:N-1)
+		v1 = Dy(t) * Dx(t * i / N) * [0;0;1];
+		v2 = Dy(t) * Dx(t * (i+1) / N) * [0;0;1];
+		fprintf(fn, "sphere { <%.4f,%.4f,%.4f>, at }\n",
+			v1(1,1), v1(3,1), v1(2,1));
+		fprintf(fn, "cylinder { <%.4f,%.4f,%.4f>, <%.4f, %.4f, %.4f>, at }\n",
+			v1(1,1), v1(3,1), v1(2,1), v2(1,1), v2(3,1), v2(2,1));
+	end
+	fprintf(fn, "sphere { <%.4f,%.4f,%.4f>, at }\n",
+		v2(1,1), v2(3,1), v2(2,1));
+	fprintf(fn, "#end\n");
+	fprintf(fn, "#declare finalYX = <%.4f, %.4f, %.4f>;\n",
+		v2(1,1), v2(3,1), v2(2,1));
+
+	fclose(fn);
+	retval = 0;
+end
+
+function	retval = kurve(i)
+	n = pi / 180;
+	filename = sprintf("f/%04d.inc", i);
+	kurven(filename, n * i);
+end
+
+for i = (1:60)
+	kurve(i);
+end
diff --git a/vorlesungen/slides/7/images/commutator.pov b/vorlesungen/slides/7/images/commutator.pov
new file mode 100644
index 0000000..9ae11b9
--- /dev/null
+++ b/vorlesungen/slides/7/images/commutator.pov
@@ -0,0 +1,59 @@
+//
+// commutator.pov
+//
+// (c) 2021 Prof Dr Andreas Müller, OST Ostschweizer Fachhochschule
+//
+#include "common.inc"
+
+sphere { O, 0.99
+	pigment {
+		color rgbt<1,1,1,0.5>
+	}
+	finish {
+		specular 0.9
+		metallic
+	}
+}
+
+#declare filename = concat("f/", str(clock, -4, 0), ".inc");
+
+#include filename
+
+#declare n1 = vcross(<0,1,0>, finalXY);
+#declare n2 = vcross(<0,1,0>, finalYX);
+
+intersection {
+	sphere { O, 1 }
+	plane { -n1, 0 }
+	plane { n2, 0 }
+	pigment {
+		color rgb<0,0.4,0.1>
+	}
+	finish {
+		specular 0.9
+		metallic
+	}
+}
+
+union {
+        XYkurve()
+        pigment {
+                color Red
+        }
+	finish {
+		specular 0.9
+		metallic
+	}
+}
+
+union {
+        YXkurve()
+        pigment {
+                color Blue
+        }
+	finish {
+		specular 0.9
+		metallic
+	}
+}
+
diff --git a/vorlesungen/slides/7/images/drehung.inc b/vorlesungen/slides/7/images/drehung.inc
new file mode 100644
index 0000000..c9b4bb7
--- /dev/null
+++ b/vorlesungen/slides/7/images/drehung.inc
@@ -0,0 +1,142 @@
+//
+// common.inc
+//
+// (c) 2021 Prof Dr Andreas Müller, OST Ostschweizer Fachhochschule
+//
+#version 3.7;
+#include "colors.inc"
+
+global_settings {
+	assumed_gamma 1
+}
+
+#declare imagescale = 0.23;
+#declare O = <0, 0, 0>;
+#declare at = 0.02;
+
+camera {
+	location <8.5, 2, 6.5>
+	look_at <0, 0, 0>
+	right x * imagescale
+	up y * imagescale
+}
+
+//light_source {
+//	<-14, 20, -50> color White
+//	area_light <1,0,0> <0,0,1>, 10, 10
+//	adaptive 1
+//	jitter
+//}
+
+light_source {
+	<41, 20, 10> color White
+	area_light <1,0,0> <0,0,1>, 10, 10
+	adaptive 1
+	jitter
+}
+
+sky_sphere {
+	pigment {
+		color rgb<1,1,1>
+	}
+}
+
+#macro arrow(from, to, arrowthickness, c)
+#declare arrowdirection = vnormalize(to - from);
+#declare arrowlength = vlength(to - from);
+union { 
+	sphere {
+		from, 1.0 * arrowthickness
+	}
+	cylinder {
+		from,
+		from + (arrowlength - 5 * arrowthickness) * arrowdirection,
+		arrowthickness
+	}
+	cone {  
+		from + (arrowlength - 5 * arrowthickness) * arrowdirection,
+		2 * arrowthickness,
+		to,
+		0
+	}
+	pigment {
+		color c
+	}
+	finish {
+		specular 0.9
+		metallic
+	}
+}
+#end
+#declare r = 1.0;
+
+arrow(< -r-0.2,    0.0,    0  >, <  r+0.2,    0.0,    0.0 >, at, Gray)
+arrow(<    0.0,    0.0, -r-0.2>, <    0.0,    0.0,  r+0.2 >, at, Gray)
+arrow(<    0.0, -r-0.2,    0  >, <    0.0,  r+0.2,    0.0 >, at, Gray)
+
+#declare farbeX = rgb<1.0,0.2,0.6>;
+#declare farbeY = rgb<0.0,0.8,0.4>;
+#declare farbeZ = rgb<0.4,0.6,1.0>;
+
+#declare farbex = rgb<1.0,0.0,0.0>;
+#declare farbey = rgb<0.0,0.6,0.0>;
+#declare farbez = rgb<0.0,0.0,1.0>;
+
+#macro quadrant(X, Y, Z)
+	intersection {
+		sphere { O, 0.5 }
+		plane { -X, 0 }
+		plane { -Y, 0 }
+		plane { -Z, 0 }
+		pigment {
+			color rgb<1.0,0.6,0.2>
+		}
+		finish {
+			specular 0.95
+			metallic
+		}
+	}
+	arrow(O, X, 1.1*at, farbex)
+	arrow(O, Y, 1.1*at, farbey)
+	arrow(O, Z, 1.1*at, farbez)
+#end
+
+#macro drehung(X, Y, Z)
+//	intersection {
+//		sphere { O, 0.5 }
+//		plane { -X, 0 }
+//		plane { -Y, 0 }
+//		plane { -Z, 0 }
+//		pigment {
+//			color Gray
+//		}
+//		finish {
+//			specular 0.95
+//			metallic
+//		}
+//	}
+	arrow(O, 1.1*X, 0.9*at, farbeX)
+	arrow(O, 1.1*Y, 0.9*at, farbeY)
+	arrow(O, 1.1*Z, 0.9*at, farbeZ)
+#end
+
+#macro achse(H)
+	cylinder { H, -H, at
+		pigment {
+			color rgb<0.6,0.4,0.2>
+		}
+		finish {
+			specular 0.95
+			metallic
+		}
+	}
+	cylinder { 0.003 * H, -0.003 * H, 1
+		pigment {
+			color rgbt<0.6,0.4,0.2,0.5>
+		}
+		finish {
+			specular 0.95
+			metallic
+		}
+	}
+#end
diff --git a/vorlesungen/slides/7/images/interpolation.ini b/vorlesungen/slides/7/images/interpolation.ini
new file mode 100644
index 0000000..f07c079
--- /dev/null
+++ b/vorlesungen/slides/7/images/interpolation.ini
@@ -0,0 +1,8 @@
+Input_File_Name=interpolation.pov
+Initial_Frame=0
+Final_Frame=50
+Initial_Clock=0
+Final_Clock=50
+Cyclic_Animation=off
+Pause_when_Done=off
+
diff --git a/vorlesungen/slides/7/images/interpolation.m b/vorlesungen/slides/7/images/interpolation.m
new file mode 100644
index 0000000..31554e8
--- /dev/null
+++ b/vorlesungen/slides/7/images/interpolation.m
@@ -0,0 +1,54 @@
+#
+# interpolation.m
+#
+# (c) 2021 Prof Dr Andreas Müller, OST Ostschweizer Fachhochschule
+#
+global N;
+N = 50;
+global A;
+global B;
+
+A = (pi / 2) * [
+  0, 0,  0;
+  0, 0, -1;
+  0, 1,  0
+];
+g0 = expm(A)
+
+B = (pi / 2) * [
+  0, 0, 1;
+  0, 0, 0;
+ -1, 0, 0
+];
+g1 = expm(B)
+
+function retval = g(t)
+	global A;
+	global B;
+	retval = expm((1-t)*A+t*B);
+endfunction
+
+function dreibein(fn, M, funktion)
+	fprintf(fn, "%s(<%.4f,%.4f,%.4f>, <%.4f,%.4f,%.4f>, <%.4f,%.4f,%.4f>)\n",
+		funktion,
+		M(1,1), M(3,1), M(2,1),
+		M(1,2), M(3,2), M(2,2),
+		M(1,3), M(3,3), M(2,3));
+endfunction
+
+G = g1 * inverse(g0);
+[V, lambda] = eig(G);
+H = real(V(:,3));
+
+D = logm(g1*inverse(g0));
+
+for i = (0:N)
+	filename = sprintf("dreibein/d%03d.inc", i);
+	fn = fopen(filename, "w");
+	t = i/N;
+	dreibein(fn, g(t), "quadrant");
+	dreibein(fn, expm(t*D)*g0, "drehung");
+	fprintf(fn, "achse(<%.4f,%.4f,%.4f>)\n", H(1,1), H(3,1), H(2,1));
+	fclose(fn);
+endfor
+
diff --git a/vorlesungen/slides/7/images/interpolation.pov b/vorlesungen/slides/7/images/interpolation.pov
new file mode 100644
index 0000000..71e0257
--- /dev/null
+++ b/vorlesungen/slides/7/images/interpolation.pov
@@ -0,0 +1,10 @@
+//
+// commutator.pov
+//
+// (c) 2021 Prof Dr Andreas Müller, OST Ostschweizer Fachhochschule
+//
+#include "drehung.inc"
+
+#declare filename = concat("dreibein/d", str(clock, -3, 0), ".inc");
+#include filename
+
diff --git a/vorlesungen/slides/7/images/rodriguez.jpg b/vorlesungen/slides/7/images/rodriguez.jpg
new file mode 100644
index 0000000..5c49700
--- /dev/null
+++ b/vorlesungen/slides/7/images/rodriguez.jpg
diff --git a/vorlesungen/slides/7/images/rodriguez.png b/vorlesungen/slides/7/images/rodriguez.png
new file mode 100644
index 0000000..6d9e9e4
--- /dev/null
+++ b/vorlesungen/slides/7/images/rodriguez.png
diff --git a/vorlesungen/slides/7/images/rodriguez.pov b/vorlesungen/slides/7/images/rodriguez.pov
new file mode 100644
index 0000000..07aec19
--- /dev/null
+++ b/vorlesungen/slides/7/images/rodriguez.pov
@@ -0,0 +1,118 @@
+//
+// rodriguez.pov
+//
+// (c) 2021 Prof Dr Andreas Müller, OST Ostschweizer Fachhochschule
+//
+#version 3.7;
+#include "colors.inc"
+
+global_settings {
+	assumed_gamma 1
+}
+
+#declare imagescale = 0.020;
+#declare O = <0, 0, 0>;
+#declare at = 0.015;
+
+camera {
+	location <8, 15, -50>
+	look_at <0.1, 0.475, 0>
+	right 16/9 * x * imagescale
+	up y * imagescale
+}
+
+light_source {
+	<-4, 20, -50> color White
+	area_light <1,0,0> <0,0,1>, 10, 10
+	adaptive 1
+	jitter
+}
+
+sky_sphere {
+	pigment {
+		color rgb<1,1,1>
+	}
+}
+
+#macro arrow(from, to, arrowthickness, c)
+#declare arrowdirection = vnormalize(to - from);
+#declare arrowlength = vlength(to - from);
+union { 
+	sphere {
+		from, 1.1 * arrowthickness
+	}
+	cylinder {
+		from,
+		from + (arrowlength - 5 * arrowthickness) * arrowdirection,
+		arrowthickness
+	}
+	cone {  
+		from + (arrowlength - 5 * arrowthickness) * arrowdirection,
+		2 * arrowthickness,
+		to,
+		0
+	}
+	pigment {
+		color c
+	}
+	finish {
+		specular 0.9
+		metallic
+	}
+}
+#end
+
+#declare K = vnormalize(<0.2,1,0.1>);
+#declare X = vnormalize(<1.1,1,-1.2>);
+#declare O = <0,0,0>;
+
+#declare r = vlength(vcross(K, X)) / vlength(K);
+
+#declare l = 1.0;
+
+arrow(< -l,  0,  0 >, < l, 0, 0 >, at, White)
+arrow(<  0,  0, -l >, < 0, 0, l >, at, White)
+arrow(<  0, -l,  0 >, < 0, l, 0 >, at, White)
+
+arrow(O, X, at, Red)
+arrow(O, K, at, Blue)
+
+#macro punkt(H,phi)
+	((H-vdot(K,H)*K)*cos(phi) + vcross(K,H)*sin(phi) + vdot(K,X)*K)
+#end
+
+cone { vdot(K, X) * K, r, O, 0
+	pigment {
+		color rgbt<0.6,0.6,0.6,0.5>
+	}
+	finish {
+		specular 0.9
+		metallic
+	}
+}
+
+
+union {
+	#declare phistep = pi / 100;
+	#declare phi = 0;
+	#while (phi < 2 * pi - phistep/2) 
+		sphere { punkt(K, phi), at/2 }
+		cylinder {
+			punkt(X, phi),
+			punkt(X, phi + phistep),
+			at/2
+		}
+		#declare phi = phi + phistep;
+	#end
+	pigment {
+		color Orange
+	}
+	finish {
+		specular 0.9
+		metallic
+	}
+}
+
+arrow(vdot(K,X)*K, punkt(X, 0), at, Yellow)
+#declare Darkgreen = rgb<0,0.5,0>;
+arrow(vdot(K,X)*K, punkt(X, pi/2), at, Darkgreen)
diff --git a/vorlesungen/slides/7/images/test.pov b/vorlesungen/slides/7/images/test.pov
new file mode 100644
index 0000000..5707be1
--- /dev/null
+++ b/vorlesungen/slides/7/images/test.pov
@@ -0,0 +1,7 @@
+//
+// test.pov
+//
+// (c) 2021 Prof Dr Andreas Müller, OST Ostschweizer Fachhochschule
+//
+#include "drehung.inc"
+#include "dreibein/d025.inc"