screw_to_dual_quat — Convert a screw into a dual quaternion.
The operator screw_to_dual_quat converts the screw parameters to the unit dual quaternion DualQuaternion, which represents a 3D rigid transformation.
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).
A screw is described by the direction of the screw axis with , the moment of the screw axis with , the screw angle , and the screw translation .
If ScrewFormat is set to 'moment', these parameters can be passed in the corresponding parameters AxisDirectionX, AxisDirectionY, AxisDirectionZ, AxisMomentOrPointX, AxisMomentOrPointY, AxisMomentOrPointZ, Rotation, and Translation.
For convenience reasons, it is also possible to specify an arbitrary point on the screw axis instead of the moment of the screw axis. For this, ScrewFormat must be set to 'point' and the coordinates of the points must be passed in AxisMomentOrPointX, AxisMomentOrPointY, and AxisMomentOrPointZ.
screw_to_dual_quat assumes that the direction vector of the screw axis has length 1, i.e., . Otherwise the returned dual quaternion is not meaningful.
Format of the screw parameters.
Default value: 'moment'
List of values: 'moment', 'point'
X component of the direction vector of the screw axis.
Y component of the direction vector of the screw axis.
Z component of the direction vector of the screw axis.
X component of the moment vector or a point on the screw axis.
Y component of the moment vector or a point on the screw axis.
Z component of the moment vector or a point on the screw axis.
Rotation angle in radians.
dual_quat_compose, dual_quat_conjugate, dual_quat_interpolate
dual_quat_to_hom_mat3d, pose_to_dual_quat, dual_quat_to_screw, dual_quat_to_pose, dual_quat_normalize, serialize_dual_quat, deserialize_dual_quat, dual_quat_trans_line_3d, axis_angle_to_quat