Name
pose_to_dual_quat T_pose_to_dual_quat PoseToDualQuat pose_to_dual_quat PoseToDualQuat PoseToDualQuat — Convert a 3D pose to a unit dual quaternion.
The operator pose_to_dual_quat pose_to_dual_quat PoseToDualQuat pose_to_dual_quat PoseToDualQuat PoseToDualQuat converts the input Pose Pose Pose Pose Pose pose
into its corresponding unit dual quaternion DualQuaternion DualQuaternion DualQuaternion DualQuaternion DualQuaternion dualQuaternion .
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 ).
Because
and
represent the same rigid
transformation, the sign of the resulting dual quaternion
DualQuaternion DualQuaternion DualQuaternion DualQuaternion DualQuaternion dualQuaternion is chosen such that the scalar part of the real
part is
.
Multiple poses can be passed in Pose Pose Pose Pose Pose pose , in which case a unit dual
quaternion is returned for each of them.
Multithreading type: reentrant (runs in parallel with non-exclusive operators).
Multithreading scope: global (may be called from any thread).
Processed without parallelization.
create_pose create_pose CreatePose create_pose CreatePose CreatePose ,
read_pose read_pose ReadPose read_pose ReadPose ReadPose
dual_quat_compose dual_quat_compose DualQuatCompose dual_quat_compose DualQuatCompose DualQuatCompose ,
dual_quat_interpolate dual_quat_interpolate DualQuatInterpolate dual_quat_interpolate DualQuatInterpolate DualQuatInterpolate ,
dual_quat_to_screw dual_quat_to_screw DualQuatToScrew dual_quat_to_screw DualQuatToScrew DualQuatToScrew ,
dual_quat_conjugate dual_quat_conjugate DualQuatConjugate dual_quat_conjugate DualQuatConjugate DualQuatConjugate
pose_to_hom_mat3d pose_to_hom_mat3d PoseToHomMat3d pose_to_hom_mat3d PoseToHomMat3d PoseToHomMat3d ,
screw_to_dual_quat screw_to_dual_quat ScrewToDualQuat screw_to_dual_quat ScrewToDualQuat ScrewToDualQuat
dual_quat_to_hom_mat3d dual_quat_to_hom_mat3d DualQuatToHomMat3d dual_quat_to_hom_mat3d DualQuatToHomMat3d DualQuatToHomMat3d ,
dual_quat_to_pose dual_quat_to_pose DualQuatToPose dual_quat_to_pose DualQuatToPose DualQuatToPose ,
dual_quat_normalize dual_quat_normalize DualQuatNormalize dual_quat_normalize DualQuatNormalize DualQuatNormalize ,
serialize_dual_quat serialize_dual_quat SerializeDualQuat serialize_dual_quat SerializeDualQuat SerializeDualQuat ,
deserialize_dual_quat deserialize_dual_quat DeserializeDualQuat deserialize_dual_quat DeserializeDualQuat DeserializeDualQuat ,
dual_quat_trans_line_3d dual_quat_trans_line_3d DualQuatTransLine3d dual_quat_trans_line_3d DualQuatTransLine3d DualQuatTransLine3d ,
pose_to_quat pose_to_quat PoseToQuat pose_to_quat PoseToQuat PoseToQuat
Foundation