Name
screw_to_dual_quat T_screw_to_dual_quat ScrewToDualQuat screw_to_dual_quat ScrewToDualQuat ScrewToDualQuat — Convert a screw into a dual quaternion.
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 )
The operator screw_to_dual_quat screw_to_dual_quat ScrewToDualQuat screw_to_dual_quat ScrewToDualQuat ScrewToDualQuat converts the screw parameters
to the unit dual quaternion DualQuaternion DualQuaternion DualQuaternion DualQuaternion DualQuaternion 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 ScrewFormat ScrewFormat ScrewFormat ScrewFormat screwFormat is set to 'moment' "moment" "moment" "moment" "moment" "moment" , these parameters
can be passed in the corresponding parameters AxisDirectionX AxisDirectionX AxisDirectionX AxisDirectionX AxisDirectionX axisDirectionX ,
AxisDirectionY AxisDirectionY AxisDirectionY AxisDirectionY AxisDirectionY axisDirectionY , AxisDirectionZ AxisDirectionZ AxisDirectionZ AxisDirectionZ AxisDirectionZ axisDirectionZ , AxisMomentOrPointX AxisMomentOrPointX AxisMomentOrPointX AxisMomentOrPointX AxisMomentOrPointX axisMomentOrPointX ,
AxisMomentOrPointY AxisMomentOrPointY AxisMomentOrPointY AxisMomentOrPointY AxisMomentOrPointY axisMomentOrPointY , AxisMomentOrPointZ AxisMomentOrPointZ AxisMomentOrPointZ AxisMomentOrPointZ AxisMomentOrPointZ axisMomentOrPointZ , Rotation Rotation Rotation Rotation Rotation rotation ,
and Translation Translation Translation Translation Translation 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 ScrewFormat ScrewFormat ScrewFormat ScrewFormat screwFormat must be set to 'point' "point" "point" "point" "point" "point" and the
coordinates of the points must be passed in AxisMomentOrPointX AxisMomentOrPointX AxisMomentOrPointX AxisMomentOrPointX AxisMomentOrPointX axisMomentOrPointX ,
AxisMomentOrPointY AxisMomentOrPointY AxisMomentOrPointY AxisMomentOrPointY AxisMomentOrPointY axisMomentOrPointY , and AxisMomentOrPointZ AxisMomentOrPointZ AxisMomentOrPointZ AxisMomentOrPointZ AxisMomentOrPointZ axisMomentOrPointZ .
screw_to_dual_quat screw_to_dual_quat ScrewToDualQuat screw_to_dual_quat ScrewToDualQuat ScrewToDualQuat assumes that the direction vector of the screw
axis has length 1, i.e.,
.
Otherwise the returned dual quaternion is not meaningful.
Multithreading type: reentrant (runs in parallel with non-exclusive operators).
Multithreading scope: global (may be called from any thread).
Processed without parallelization.
Format of the screw parameters.
Default value:
'moment'
"moment"
"moment"
"moment"
"moment"
"moment"
List of values: 'moment' "moment" "moment" "moment" "moment" "moment" , 'point' "point" "point" "point" "point" "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_compose DualQuatCompose dual_quat_compose DualQuatCompose DualQuatCompose ,
dual_quat_conjugate dual_quat_conjugate DualQuatConjugate dual_quat_conjugate DualQuatConjugate DualQuatConjugate ,
dual_quat_interpolate dual_quat_interpolate DualQuatInterpolate dual_quat_interpolate DualQuatInterpolate DualQuatInterpolate
pose_to_dual_quat pose_to_dual_quat PoseToDualQuat pose_to_dual_quat PoseToDualQuat PoseToDualQuat
dual_quat_to_hom_mat3d dual_quat_to_hom_mat3d DualQuatToHomMat3d dual_quat_to_hom_mat3d DualQuatToHomMat3d DualQuatToHomMat3d ,
pose_to_dual_quat pose_to_dual_quat PoseToDualQuat pose_to_dual_quat PoseToDualQuat PoseToDualQuat ,
dual_quat_to_screw dual_quat_to_screw DualQuatToScrew dual_quat_to_screw DualQuatToScrew DualQuatToScrew ,
dual_quat_to_pose dual_quat_to_pose DualQuatToPose dual_quat_to_pose DualQuatToPose DualQuatToPose ,
dual_quat_normalize dual_quat_normalize DualQuatNormalize dual_quat_normalize DualQuatNormalize DualQuatNormalize ,
serialize_dual_quat serialize_dual_quat SerializeDualQuat serialize_dual_quat SerializeDualQuat SerializeDualQuat ,
deserialize_dual_quat deserialize_dual_quat DeserializeDualQuat deserialize_dual_quat DeserializeDualQuat DeserializeDualQuat ,
dual_quat_trans_line_3d dual_quat_trans_line_3d DualQuatTransLine3d dual_quat_trans_line_3d DualQuatTransLine3d DualQuatTransLine3d ,
axis_angle_to_quat axis_angle_to_quat AxisAngleToQuat axis_angle_to_quat AxisAngleToQuat AxisAngleToQuat
Foundation