dual_quat_compose — Multiply two dual quaternions.
The operator dual_quat_compose multiplies the two dual quaternions DualQuaternionLeft and DualQuaternionRight and returns the product in DualQuaternionComposed.
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 multiplication of the dual quaternions and is .
For the multiplication of quaternions see quat_compose.
Note that the multiplication of two dual quaternions is not commutative, i.e., .
If DualQuaternionLeft and DualQuaternionRight are unit dual quaternions and, hence, represent 3D rigid transformations, their multiplication corresponds to the multiplication of their corresponding homogeneous transformation matrices. Consequently, dual_quat_compose can be used to concatenate two 3D rigid transformations analogously to pose_compose or hom_mat3d_compose.
Left dual quaternion.
Right dual quaternion.
Product of the dual quaternions.
dual_quat_to_hom_mat3d, dual_quat_to_pose, dual_quat_to_screw
dual_quat_interpolate, pose_to_dual_quat, dual_quat_normalize, dual_quat_conjugate, serialize_dual_quat, deserialize_dual_quat, dual_quat_trans_line_3d, quat_compose