pose_to_dual_quat — Convert a 3D pose to a unit dual quaternion.
The operator pose_to_dual_quat converts the input Pose into its corresponding unit dual quaternion 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 is chosen such that the scalar part of the real part is .
Multiple poses can be passed in Pose, in which case a unit dual quaternion is returned for each of them.
Unit dual quaternion.
dual_quat_compose, dual_quat_interpolate, dual_quat_to_screw, dual_quat_conjugate
dual_quat_to_hom_mat3d, dual_quat_to_pose, dual_quat_normalize, serialize_dual_quat, deserialize_dual_quat, dual_quat_trans_line_3d, pose_to_quat