HALCON Website / HALCON Operator-Referenz / Transformationen / Duale Quaternionen
KlassenKlassenKlassenKlassen | | | | Operatoren

screw_to_dual_quatT_screw_to_dual_quatScrewToDualQuatscrew_to_dual_quatScrewToDualQuatScrewToDualQuat (Operator)

Name

screw_to_dual_quatT_screw_to_dual_quatScrewToDualQuatscrew_to_dual_quatScrewToDualQuatScrewToDualQuat — Umwandlung einer Schraubung in eine duale Einheitsquaternion.

Signatur

screw_to_dual_quat( : : ScrewFormat, AxisDirectionX, AxisDirectionY, AxisDirectionZ, AxisMomentOrPointX, AxisMomentOrPointY, AxisMomentOrPointZ, Rotation, Translation : DualQuaternion)

Herror T_screw_to_dual_quat(const Htuple ScrewFormat, const Htuple AxisDirectionX, const Htuple AxisDirectionY, const Htuple AxisDirectionZ, const Htuple AxisMomentOrPointX, const Htuple AxisMomentOrPointY, const Htuple AxisMomentOrPointZ, const Htuple Rotation, const Htuple Translation, Htuple* DualQuaternion)

Herror screw_to_dual_quat(const HTuple& ScrewFormat, const HTuple& AxisDirectionX, const HTuple& AxisDirectionY, const HTuple& AxisDirectionZ, const HTuple& AxisMomentOrPointX, const HTuple& AxisMomentOrPointY, const HTuple& AxisMomentOrPointZ, const HTuple& Rotation, const HTuple& Translation, HTuple* DualQuaternion)

void ScrewToDualQuat(const HTuple& ScrewFormat, const HTuple& AxisDirectionX, const HTuple& AxisDirectionY, const HTuple& AxisDirectionZ, const HTuple& AxisMomentOrPointX, const HTuple& AxisMomentOrPointY, const HTuple& AxisMomentOrPointZ, const HTuple& Rotation, const HTuple& Translation, HTuple* DualQuaternion)

void HDualQuaternion::HDualQuaternion(const HString& ScrewFormat, const HTuple& AxisDirectionX, const HTuple& AxisDirectionY, const HTuple& AxisDirectionZ, const HTuple& AxisMomentOrPointX, const HTuple& AxisMomentOrPointY, const HTuple& AxisMomentOrPointZ, const HTuple& Rotation, const HTuple& Translation)

void HDualQuaternion::HDualQuaternion(const HString& ScrewFormat, double AxisDirectionX, double AxisDirectionY, double AxisDirectionZ, double AxisMomentOrPointX, double AxisMomentOrPointY, double AxisMomentOrPointZ, double Rotation, double Translation)

void HDualQuaternion::HDualQuaternion(const char* ScrewFormat, double AxisDirectionX, double AxisDirectionY, double AxisDirectionZ, double AxisMomentOrPointX, double AxisMomentOrPointY, double AxisMomentOrPointZ, double Rotation, double Translation)

void HDualQuaternion::ScrewToDualQuat(const HString& ScrewFormat, const HTuple& AxisDirectionX, const HTuple& AxisDirectionY, const HTuple& AxisDirectionZ, const HTuple& AxisMomentOrPointX, const HTuple& AxisMomentOrPointY, const HTuple& AxisMomentOrPointZ, const HTuple& Rotation, const HTuple& Translation)

void HDualQuaternion::ScrewToDualQuat(const HString& ScrewFormat, double AxisDirectionX, double AxisDirectionY, double AxisDirectionZ, double AxisMomentOrPointX, double AxisMomentOrPointY, double AxisMomentOrPointZ, double Rotation, double Translation)

void HDualQuaternion::ScrewToDualQuat(const char* ScrewFormat, double AxisDirectionX, double AxisDirectionY, double AxisDirectionZ, double AxisMomentOrPointX, double AxisMomentOrPointY, double AxisMomentOrPointZ, double Rotation, double Translation)

void HOperatorSetX.ScrewToDualQuat(
[in] VARIANT ScrewFormat, [in] VARIANT AxisDirectionX, [in] VARIANT AxisDirectionY, [in] VARIANT AxisDirectionZ, [in] VARIANT AxisMomentOrPointX, [in] VARIANT AxisMomentOrPointY, [in] VARIANT AxisMomentOrPointZ, [in] VARIANT Rotation, [in] VARIANT Translation, [out] VARIANT* DualQuaternion)

void HDualQuaternionX.ScrewToDualQuat(
[in] BSTR ScrewFormat, [in] VARIANT AxisDirectionX, [in] VARIANT AxisDirectionY, [in] VARIANT AxisDirectionZ, [in] VARIANT AxisMomentOrPointX, [in] VARIANT AxisMomentOrPointY, [in] VARIANT AxisMomentOrPointZ, [in] VARIANT Rotation, [in] VARIANT Translation)

static void HOperatorSet.ScrewToDualQuat(HTuple screwFormat, HTuple axisDirectionX, HTuple axisDirectionY, HTuple axisDirectionZ, HTuple axisMomentOrPointX, HTuple axisMomentOrPointY, HTuple axisMomentOrPointZ, HTuple rotation, HTuple translation, out HTuple dualQuaternion)

public HDualQuaternion(string screwFormat, HTuple axisDirectionX, HTuple axisDirectionY, HTuple axisDirectionZ, HTuple axisMomentOrPointX, HTuple axisMomentOrPointY, HTuple axisMomentOrPointZ, HTuple rotation, HTuple translation)

public HDualQuaternion(string screwFormat, double axisDirectionX, double axisDirectionY, double axisDirectionZ, double axisMomentOrPointX, double axisMomentOrPointY, double axisMomentOrPointZ, double rotation, double translation)

void HDualQuaternion.ScrewToDualQuat(string screwFormat, HTuple axisDirectionX, HTuple axisDirectionY, HTuple axisDirectionZ, HTuple axisMomentOrPointX, HTuple axisMomentOrPointY, HTuple axisMomentOrPointZ, HTuple rotation, HTuple translation)

void HDualQuaternion.ScrewToDualQuat(string screwFormat, double axisDirectionX, double axisDirectionY, double axisDirectionZ, double axisMomentOrPointX, double axisMomentOrPointY, double axisMomentOrPointZ, double rotation, double translation)

Beschreibung

Der Operator screw_to_dual_quatscrew_to_dual_quatScrewToDualQuatscrew_to_dual_quatScrewToDualQuatScrewToDualQuat wandelt die Parameter einer Schraubung in die duale Einheitsquaternion DualQuaternionDualQuaternionDualQuaternionDualQuaternionDualQuaterniondualQuaternion um, die eine starre 3D-Abbildung repräsentiert.

Eine kurze Einführung in duale Quaternionen, die verwendete Notation und die Beziehung zwischen dualen Quaternionen und Schraubungen findet sich in der Dokumentation zu diesem Kapitel (Transformationen / Duale Quaternionen).

Eine Schraubung kann beschrieben werden durch die Richtung ihrer Schraubenachse mit , das Moment der Schraubenachse mit , den Rotationswinkel der Schraubung und die Translation der Schraubung .

Wird für ScrewFormatScrewFormatScrewFormatScrewFormatScrewFormatscrewFormat 'moment'"moment""moment""moment""moment""moment" gewählt, müssen die beschriebenen Schraubungsparameter in den entsprechenden Parametern AxisDirectionXAxisDirectionXAxisDirectionXAxisDirectionXAxisDirectionXaxisDirectionX, AxisDirectionYAxisDirectionYAxisDirectionYAxisDirectionYAxisDirectionYaxisDirectionY, AxisDirectionZAxisDirectionZAxisDirectionZAxisDirectionZAxisDirectionZaxisDirectionZ, AxisMomentOrPointXAxisMomentOrPointXAxisMomentOrPointXAxisMomentOrPointXAxisMomentOrPointXaxisMomentOrPointX, AxisMomentOrPointYAxisMomentOrPointYAxisMomentOrPointYAxisMomentOrPointYAxisMomentOrPointYaxisMomentOrPointY, AxisMomentOrPointZAxisMomentOrPointZAxisMomentOrPointZAxisMomentOrPointZAxisMomentOrPointZaxisMomentOrPointZ, RotationRotationRotationRotationRotationrotation und TranslationTranslationTranslationTranslationTranslationtranslation übergeben werden.

Alternativ ist es auch möglich, anstatt des Moments der Schraubenachse einen beliebigen Punkt auf der Schraubenachse zu übergeben. Dazu muss für ScrewFormatScrewFormatScrewFormatScrewFormatScrewFormatscrewFormat 'point'"point""point""point""point""point" gewählt werden und in AxisMomentOrPointXAxisMomentOrPointXAxisMomentOrPointXAxisMomentOrPointXAxisMomentOrPointXaxisMomentOrPointX, AxisMomentOrPointYAxisMomentOrPointYAxisMomentOrPointYAxisMomentOrPointYAxisMomentOrPointYaxisMomentOrPointY und AxisMomentOrPointZAxisMomentOrPointZAxisMomentOrPointZAxisMomentOrPointZAxisMomentOrPointZaxisMomentOrPointZ müssen die Koordinaten des Punktes übergeben werden.

Achtung

screw_to_dual_quatscrew_to_dual_quatScrewToDualQuatscrew_to_dual_quatScrewToDualQuatScrewToDualQuat nimmt an, dass der übergebene Richtungsvektor der Schraubenachse die Länge 1 hat, d.h. . Andernfalls ist das resultierende duale Quaternion nicht sinnvoll.

Parallelisierung

Parameter

ScrewFormatScrewFormatScrewFormatScrewFormatScrewFormatscrewFormat (input_control)  string → HTupleHTupleHTupleVARIANTHtuple (string) (string) (HString) (char*) (BSTR) (char*)

Format der Schraubungsparameter.

Defaultwert: 'moment' "moment" "moment" "moment" "moment" "moment"

Werteliste: 'moment'"moment""moment""moment""moment""moment", 'point'"point""point""point""point""point"

AxisDirectionXAxisDirectionXAxisDirectionXAxisDirectionXAxisDirectionXaxisDirectionX (input_control)  point3d.x → HTupleHTupleHTupleVARIANTHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong) (double / Hlong) (double / Hlong)

X-Komponente des Richtungsvektors der Schraubenachse.

AxisDirectionYAxisDirectionYAxisDirectionYAxisDirectionYAxisDirectionYaxisDirectionY (input_control)  point3d.y → HTupleHTupleHTupleVARIANTHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong) (double / Hlong) (double / Hlong)

Y-Komponente des Richtungsvektors der Schraubenachse.

AxisDirectionZAxisDirectionZAxisDirectionZAxisDirectionZAxisDirectionZaxisDirectionZ (input_control)  point3d.z → HTupleHTupleHTupleVARIANTHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong) (double / Hlong) (double / Hlong)

Z-Komponente des Richtungsvektors der Schraubenachse.

AxisMomentOrPointXAxisMomentOrPointXAxisMomentOrPointXAxisMomentOrPointXAxisMomentOrPointXaxisMomentOrPointX (input_control)  point3d.x → HTupleHTupleHTupleVARIANTHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong) (double / Hlong) (double / Hlong)

X-Komponente des Momentenvektors oder eines Punktes der Schraubenachse.

AxisMomentOrPointYAxisMomentOrPointYAxisMomentOrPointYAxisMomentOrPointYAxisMomentOrPointYaxisMomentOrPointY (input_control)  point3d.y → HTupleHTupleHTupleVARIANTHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong) (double / Hlong) (double / Hlong)

Y-Komponente des Momentenvektors oder eines Punktes der Schraubenachse.

AxisMomentOrPointZAxisMomentOrPointZAxisMomentOrPointZAxisMomentOrPointZAxisMomentOrPointZaxisMomentOrPointZ (input_control)  point3d.z → HTupleHTupleHTupleVARIANTHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong) (double / Hlong) (double / Hlong)

Z-Komponente des Momentenvektors oder eines Punktes der Schraubenachse.

RotationRotationRotationRotationRotationrotation (input_control)  angle.rad → HTupleHTupleHTupleVARIANTHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong) (double / Hlong) (double / Hlong)

Rotationswinkel im Bogenmaß.

TranslationTranslationTranslationTranslationTranslationtranslation (input_control)  real → HTupleHTupleHTupleVARIANTHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong) (double / Hlong) (double / Hlong)

Translation.

DualQuaternionDualQuaternionDualQuaternionDualQuaternionDualQuaterniondualQuaternion (output_control)  dual_quaternion → HDualQuaternion, HTupleHTupleHTupleHDualQuaternionX, VARIANTHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong) (double / Hlong) (double / Hlong)

Duale Quaternion.

Nachfolger

dual_quat_composedual_quat_composeDualQuatComposedual_quat_composeDualQuatComposeDualQuatCompose, dual_quat_conjugatedual_quat_conjugateDualQuatConjugatedual_quat_conjugateDualQuatConjugateDualQuatConjugate, dual_quat_interpolatedual_quat_interpolateDualQuatInterpolatedual_quat_interpolateDualQuatInterpolateDualQuatInterpolate

Alternativen

pose_to_dual_quatpose_to_dual_quatPoseToDualQuatpose_to_dual_quatPoseToDualQuatPoseToDualQuat

Siehe auch

dual_quat_to_hom_mat3ddual_quat_to_hom_mat3dDualQuatToHomMat3ddual_quat_to_hom_mat3dDualQuatToHomMat3dDualQuatToHomMat3d, pose_to_dual_quatpose_to_dual_quatPoseToDualQuatpose_to_dual_quatPoseToDualQuatPoseToDualQuat, dual_quat_to_screwdual_quat_to_screwDualQuatToScrewdual_quat_to_screwDualQuatToScrewDualQuatToScrew, dual_quat_to_posedual_quat_to_poseDualQuatToPosedual_quat_to_poseDualQuatToPoseDualQuatToPose, 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, axis_angle_to_quataxis_angle_to_quatAxisAngleToQuataxis_angle_to_quatAxisAngleToQuatAxisAngleToQuat

Modul

Foundation

KlassenKlassenKlassenKlassen | | | | Operatoren
HALCON Operator-Referenz 13.0.4 Copyright © 1996-2019 MVTec Software GmbH