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dual_quat_conjugateT_dual_quat_conjugateDualQuatConjugatedual_quat_conjugateDualQuatConjugateDualQuatConjugate (Operator)

Name

dual_quat_conjugateT_dual_quat_conjugateDualQuatConjugatedual_quat_conjugateDualQuatConjugateDualQuatConjugate — Conjugate a dual quaternion.

Signature

dual_quat_conjugate( : : DualQuaternion : DualQuaternionConjugate)

Herror T_dual_quat_conjugate(const Htuple DualQuaternion, Htuple* DualQuaternionConjugate)

Herror dual_quat_conjugate(const HTuple& DualQuaternion, HTuple* DualQuaternionConjugate)

void DualQuatConjugate(const HTuple& DualQuaternion, HTuple* DualQuaternionConjugate)

static HDualQuaternionArray HDualQuaternion::DualQuatConjugate(const HDualQuaternionArray& DualQuaternion)

HDualQuaternion HDualQuaternion::DualQuatConjugate() const

void HOperatorSetX.DualQuatConjugate(
[in] VARIANT DualQuaternion, [out] VARIANT* DualQuaternionConjugate)

IHDualQuaternionX* HDualQuaternionX.DualQuatConjugate()

static void HOperatorSet.DualQuatConjugate(HTuple dualQuaternion, out HTuple dualQuaternionConjugate)

static HDualQuaternion[] HDualQuaternion.DualQuatConjugate(HDualQuaternion[] dualQuaternion)

HDualQuaternion HDualQuaternion.DualQuatConjugate()

Description

The operator dual_quat_conjugatedual_quat_conjugateDualQuatConjugatedual_quat_conjugateDualQuatConjugateDualQuatConjugate computes the conjugation DualQuaternionConjugateDualQuaternionConjugateDualQuaternionConjugateDualQuaternionConjugateDualQuaternionConjugatedualQuaternionConjugate of the input dual quaternion DualQuaternionDualQuaternionDualQuaternionDualQuaternionDualQuaterniondualQuaternion.

For a brief introduction to dual quaternions, the used notation, and the relationship between dual quaternions and screws, see the documentation of this chapter (Transformations / Dual Quaternions).

The conjugation of a dual quaternion is given by , where and are the conjugations of the quaternions and .

For the conjugation of quaternions see quat_conjugatequat_conjugateQuatConjugatequat_conjugateQuatConjugateQuatConjugate.

If DualQuaternionDualQuaternionDualQuaternionDualQuaternionDualQuaterniondualQuaternion is a unit dual quaternion and, hence, represents a 3D rigid transformation, its inverse is its conjugate, i.e., . Consequently, DualQuaternionConjugateDualQuaternionConjugateDualQuaternionConjugateDualQuaternionConjugateDualQuaternionConjugatedualQuaternionConjugate represents the inverse 3D rigid transformation of DualQuaternionDualQuaternionDualQuaternionDualQuaternionDualQuaterniondualQuaternion. Therefore, dual_quat_conjugatedual_quat_conjugateDualQuatConjugatedual_quat_conjugateDualQuatConjugateDualQuatConjugate can be used to invert a 3D rigid transformation analogously to pose_invertpose_invertPoseInvertpose_invertPoseInvertPoseInvert or hom_mat3d_inverthom_mat3d_invertHomMat3dInverthom_mat3d_invertHomMat3dInvertHomMat3dInvert.

Parallelization

Parameters

DualQuaternionDualQuaternionDualQuaternionDualQuaternionDualQuaterniondualQuaternion (input_control)  dual_quaternion(-array) → HDualQuaternion, HTupleHTupleHTupleHDualQuaternionX, VARIANTHtuple (real) (double) (double) (double) (double) (double)

Dual quaternion.

DualQuaternionConjugateDualQuaternionConjugateDualQuaternionConjugateDualQuaternionConjugateDualQuaternionConjugatedualQuaternionConjugate (output_control)  dual_quaternion(-array) → HDualQuaternion, HTupleHTupleHTupleHDualQuaternionX, VARIANTHtuple (real) (double) (double) (double) (double) (double)

Conjugate of the dual quaternion.

Possible Predecessors

dual_quat_composedual_quat_composeDualQuatComposedual_quat_composeDualQuatComposeDualQuatCompose, pose_to_dual_quatpose_to_dual_quatPoseToDualQuatpose_to_dual_quatPoseToDualQuatPoseToDualQuat, screw_to_dual_quatscrew_to_dual_quatScrewToDualQuatscrew_to_dual_quatScrewToDualQuatScrewToDualQuat

Possible Successors

dual_quat_composedual_quat_composeDualQuatComposedual_quat_composeDualQuatComposeDualQuatCompose, dual_quat_to_hom_mat3ddual_quat_to_hom_mat3dDualQuatToHomMat3ddual_quat_to_hom_mat3dDualQuatToHomMat3dDualQuatToHomMat3d, dual_quat_to_screwdual_quat_to_screwDualQuatToScrewdual_quat_to_screwDualQuatToScrewDualQuatToScrew, dual_quat_interpolatedual_quat_interpolateDualQuatInterpolatedual_quat_interpolateDualQuatInterpolateDualQuatInterpolate, dual_quat_to_posedual_quat_to_poseDualQuatToPosedual_quat_to_poseDualQuatToPoseDualQuatToPose

Alternatives

pose_invertpose_invertPoseInvertpose_invertPoseInvertPoseInvert, hom_mat3d_inverthom_mat3d_invertHomMat3dInverthom_mat3d_invertHomMat3dInvertHomMat3dInvert

See also

dual_quat_normalizedual_quat_normalizeDualQuatNormalizedual_quat_normalizeDualQuatNormalizeDualQuatNormalize, serialize_dual_quatserialize_dual_quatSerializeDualQuatserialize_dual_quatSerializeDualQuatSerializeDualQuat, deserialize_dual_quatdeserialize_dual_quatDeserializeDualQuatdeserialize_dual_quatDeserializeDualQuatDeserializeDualQuat, dual_quat_trans_line_3ddual_quat_trans_line_3dDualQuatTransLine3ddual_quat_trans_line_3dDualQuatTransLine3dDualQuatTransLine3d, quat_conjugatequat_conjugateQuatConjugatequat_conjugateQuatConjugateQuatConjugate

Module

Foundation

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HALCON Operator Reference 13.0.4 Copyright © 1996-2019 MVTec Software GmbH