dual_quat_compose T_dual_quat_compose DualQuatCompose DualQuatCompose (Operator)
Name
dual_quat_compose T_dual_quat_compose DualQuatCompose DualQuatCompose
— Multiplikation zweier dualer Quaternionen.
Signatur
Beschreibung
Der Operator dual_quat_compose dual_quat_compose DualQuatCompose DualQuatCompose DualQuatCompose
multipliziert die zwei dualen
Quaternionen DualQuaternionLeft DualQuaternionLeft DualQuaternionLeft DualQuaternionLeft dualQuaternionLeft
und DualQuaternionRight DualQuaternionRight DualQuaternionRight DualQuaternionRight dualQuaternionRight
und gibt das Produkt in DualQuaternionComposed DualQuaternionComposed DualQuaternionComposed DualQuaternionComposed dualQuaternionComposed
zurück.
Eine kurze Einführung in duale Quaternionen, die verwendete Notation
und die Beziehung zwischen dualen Quaternionen und Schraubungen findet
sich in der Dokumentation zu diesem Kapitel
(Transformationen / Duale Quaternionen ).
Die Multiplikation der dualen Quaternionen
und
ist
.
Informationen zur Multiplikation von Quaternionen sind in der
Beschreibung von quat_compose quat_compose QuatCompose QuatCompose QuatCompose
zu finden.
Zu beachten ist, dass die Multiplikation zweier dualer Quaternionen
nicht kommutativ ist, d.h.
.
Falls DualQuaternionLeft DualQuaternionLeft DualQuaternionLeft DualQuaternionLeft dualQuaternionLeft
und DualQuaternionRight DualQuaternionRight DualQuaternionRight DualQuaternionRight dualQuaternionRight
duale
Einheitsquaternionen sind und damit starre 3D-Abbildungen darstellen,
entspricht ihre Multiplikation der Multiplikation ihrer entsprechenden
homogenen Transformationsmatrizen. Daher kann dual_quat_compose dual_quat_compose DualQuatCompose DualQuatCompose DualQuatCompose
zur Hintereinanderschaltung zweier starrer 3D-Abbildungen
verwendet werden analog zu pose_compose pose_compose PoseCompose PoseCompose PoseCompose
oder
hom_mat3d_compose hom_mat3d_compose HomMat3dCompose HomMat3dCompose HomMat3dCompose
.
Ausführungsinformationen
Multithreading-Typ: reentrant (läuft parallel zu nicht-exklusiven Operatoren).
Multithreading-Bereich: global (kann von jedem Thread aufgerufen werden).
Wird ohne Parallelisierung verarbeitet.
Parameter
DualQuaternionLeft DualQuaternionLeft DualQuaternionLeft DualQuaternionLeft dualQuaternionLeft
(input_control) dual_quaternion(-array) →
HDualQuaternion , HTuple HTuple Htuple (real) (double ) (double ) (double )
Linke duale Quaternion.
DualQuaternionRight DualQuaternionRight DualQuaternionRight DualQuaternionRight dualQuaternionRight
(input_control) dual_quaternion(-array) →
HDualQuaternion , HTuple HTuple Htuple (real) (double ) (double ) (double )
Rechte duale Quaternion.
DualQuaternionComposed DualQuaternionComposed DualQuaternionComposed DualQuaternionComposed dualQuaternionComposed
(output_control) dual_quaternion(-array) →
HDualQuaternion , HTuple HTuple Htuple (real) (double ) (double ) (double )
Produkt der dualen Quaternionen.
Vorgänger
screw_to_dual_quat screw_to_dual_quat ScrewToDualQuat ScrewToDualQuat ScrewToDualQuat
Nachfolger
dual_quat_to_hom_mat3d dual_quat_to_hom_mat3d DualQuatToHomMat3d DualQuatToHomMat3d DualQuatToHomMat3d
,
dual_quat_to_pose dual_quat_to_pose DualQuatToPose DualQuatToPose DualQuatToPose
,
dual_quat_to_screw dual_quat_to_screw DualQuatToScrew DualQuatToScrew DualQuatToScrew
Alternativen
pose_compose pose_compose PoseCompose PoseCompose PoseCompose
,
hom_mat3d_compose hom_mat3d_compose HomMat3dCompose HomMat3dCompose HomMat3dCompose
Siehe auch
dual_quat_interpolate dual_quat_interpolate DualQuatInterpolate DualQuatInterpolate DualQuatInterpolate
,
pose_to_dual_quat pose_to_dual_quat PoseToDualQuat PoseToDualQuat PoseToDualQuat
,
dual_quat_normalize dual_quat_normalize DualQuatNormalize DualQuatNormalize DualQuatNormalize
,
dual_quat_conjugate dual_quat_conjugate DualQuatConjugate DualQuatConjugate DualQuatConjugate
,
serialize_dual_quat serialize_dual_quat SerializeDualQuat SerializeDualQuat SerializeDualQuat
,
deserialize_dual_quat deserialize_dual_quat DeserializeDualQuat DeserializeDualQuat DeserializeDualQuat
,
dual_quat_trans_line_3d dual_quat_trans_line_3d DualQuatTransLine3d DualQuatTransLine3d DualQuatTransLine3d
,
quat_compose quat_compose QuatCompose QuatCompose QuatCompose
Modul
Foundation