dual_quat_to_hom_mat3d — Convert a unit dual quaternion into a homogeneous transformation matrix.
The operator dual_quat_to_hom_mat3d converts a unit dual quaternion DualQuaternion, which represents a 3D rigid transformation, into its corresponding homogeneous transformation matrix HomMat3D.
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 rotation part of HomMat3D is computed from the real part of the dual quaternion, as described in quat_to_hom_mat3d. The translation part of HomMat3D is computed from the real and dual part of :
HomMat3D will only be a valid rigid transformation matrix if DualQuaternion is a unit dual quaternion.
Unit dual quaternion.
screw_to_dual_quat, dual_quat_interpolate, dual_quat_compose, dual_quat_normalize
dual_quat_compose, pose_to_dual_quat, dual_quat_conjugate, serialize_dual_quat, deserialize_dual_quat, dual_quat_trans_line_3d, quat_to_hom_mat3d