dual_quat_to_screw T_dual_quat_to_screw DualQuatToScrew DualQuatToScrew (Operator)
Name
dual_quat_to_screw T_dual_quat_to_screw DualQuatToScrew DualQuatToScrew
— Umwandlung einer dualen Einheitsquaternion in eine Schraubung.
Signatur
void DualQuatToScrew (const HTuple& DualQuaternion , const HTuple& ScrewFormat , HTuple* AxisDirectionX , HTuple* AxisDirectionY , HTuple* AxisDirectionZ , HTuple* AxisMomentOrPointX , HTuple* AxisMomentOrPointY , HTuple* AxisMomentOrPointZ , HTuple* Rotation , HTuple* Translation )
void HDualQuaternion ::DualQuatToScrew (const HString& ScrewFormat , double* AxisDirectionX , double* AxisDirectionY , double* AxisDirectionZ , double* AxisMomentOrPointX , double* AxisMomentOrPointY , double* AxisMomentOrPointZ , double* Rotation , double* Translation ) const
void HDualQuaternion ::DualQuatToScrew (const char* ScrewFormat , double* AxisDirectionX , double* AxisDirectionY , double* AxisDirectionZ , double* AxisMomentOrPointX , double* AxisMomentOrPointY , double* AxisMomentOrPointZ , double* Rotation , double* Translation ) const
void HDualQuaternion ::DualQuatToScrew (const wchar_t* ScrewFormat , double* AxisDirectionX , double* AxisDirectionY , double* AxisDirectionZ , double* AxisMomentOrPointX , double* AxisMomentOrPointY , double* AxisMomentOrPointZ , double* Rotation , double* Translation ) const
(Nur Windows)
static void HOperatorSet .DualQuatToScrew (HTuple dualQuaternion , HTuple screwFormat , out HTuple axisDirectionX , out HTuple axisDirectionY , out HTuple axisDirectionZ , out HTuple axisMomentOrPointX , out HTuple axisMomentOrPointY , out HTuple axisMomentOrPointZ , out HTuple rotation , out HTuple translation )
void HDualQuaternion .DualQuatToScrew (string screwFormat , out double axisDirectionX , out double axisDirectionY , out double axisDirectionZ , out double axisMomentOrPointX , out double axisMomentOrPointY , out double axisMomentOrPointZ , out double rotation , out double translation )
Beschreibung
Der Operator dual_quat_to_screw dual_quat_to_screw DualQuatToScrew DualQuatToScrew DualQuatToScrew
wandelt die duale Einheitsquaternion
DualQuaternion DualQuaternion DualQuaternion DualQuaternion dualQuaternion
, die eine starre 3D-Abbildung repräsentiert,
in die Parameter einer Schraubung um.
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 ).
Eine Schraubung kann beschrieben werden durch die Richtung ihrer
Schraubenachse
mit
, das Moment der Schraubenachse
mit
,
den Rotationswinkel der Schraubung
und die
Translation der Schraubung
.
Wird für ScrewFormat ScrewFormat ScrewFormat ScrewFormat screwFormat
'moment' "moment" "moment" "moment" "moment" gewählt, werden die
beschriebenen Schraubungsparameter in den entsprechenden Parametern
AxisDirectionX AxisDirectionX AxisDirectionX AxisDirectionX axisDirectionX
, AxisDirectionY AxisDirectionY AxisDirectionY AxisDirectionY axisDirectionY
, AxisDirectionZ AxisDirectionZ AxisDirectionZ AxisDirectionZ axisDirectionZ
,
AxisMomentOrPointX AxisMomentOrPointX AxisMomentOrPointX AxisMomentOrPointX axisMomentOrPointX
, AxisMomentOrPointY AxisMomentOrPointY AxisMomentOrPointY AxisMomentOrPointY axisMomentOrPointY
,
AxisMomentOrPointZ AxisMomentOrPointZ AxisMomentOrPointZ AxisMomentOrPointZ axisMomentOrPointZ
, Rotation Rotation Rotation Rotation rotation
und Translation Translation Translation Translation translation
zurückgegeben.
Alternativ ist es auch möglich, anstatt des Moments der Schraubenachse
den Punkt auf der Schraubenachse zurückzugeben, der den kürzesten
Abstand zum Ursprung hat. Dazu muss für ScrewFormat ScrewFormat ScrewFormat ScrewFormat screwFormat
'point' "point" "point" "point" "point" gewählt werden. In diesem Fall werden die Koordinaten
des Punktes in AxisMomentOrPointX AxisMomentOrPointX AxisMomentOrPointX AxisMomentOrPointX axisMomentOrPointX
, AxisMomentOrPointY AxisMomentOrPointY AxisMomentOrPointY AxisMomentOrPointY axisMomentOrPointY
und
AxisMomentOrPointZ AxisMomentOrPointZ AxisMomentOrPointZ AxisMomentOrPointZ axisMomentOrPointZ
zurückgegeben.
Achtung
dual_quat_to_screw dual_quat_to_screw DualQuatToScrew DualQuatToScrew DualQuatToScrew
nimmt an, dass es sich bei
DualQuaternion DualQuaternion DualQuaternion DualQuaternion dualQuaternion
um eine duale Einheitsquaternion handelt und diese
daher eine starre 3D-Abbildung darstellt. Andernfalls ist eine Umwandlung
in eine Schraubung nicht sinnvoll möglich. Zu beachten ist auch, dass die
Schraubenachse für die Identitätsabbildung (keine Rotation und keine
Translation), nicht definiert ist. In diesem Fall wird
auf
gesetzt.
Ausführungsinformationen
Multithreading-Typ: reentrant (läuft parallel zu nicht-exklusiven Operatoren).
Multithreading-Bereich: global (kann von jedem Thread aufgerufen werden).
Wird ohne Parallelisierung verarbeitet.
Parameter
DualQuaternion DualQuaternion DualQuaternion DualQuaternion dualQuaternion
(input_control) dual_quaternion →
HDualQuaternion , HTuple HTuple Htuple (real) (double ) (double ) (double )
Duale Einheitsquaternion.
ScrewFormat ScrewFormat ScrewFormat ScrewFormat screwFormat
(input_control) string →
HTuple HTuple Htuple (string) (string ) (HString ) (char* )
Format der Schraubungsparameter.
Defaultwert:
'moment'
"moment"
"moment"
"moment"
"moment"
Werteliste: 'moment' "moment" "moment" "moment" "moment" , 'point' "point" "point" "point" "point"
AxisDirectionX AxisDirectionX AxisDirectionX AxisDirectionX axisDirectionX
(output_control) point3d.x →
HTuple HTuple Htuple (real) (double ) (double ) (double )
X-Komponente des Richtungsvektors der Schraubenachse.
AxisDirectionY AxisDirectionY AxisDirectionY AxisDirectionY axisDirectionY
(output_control) point3d.y →
HTuple HTuple Htuple (real) (double ) (double ) (double )
Y-Komponente des Richtungsvektors der Schraubenachse.
AxisDirectionZ AxisDirectionZ AxisDirectionZ AxisDirectionZ axisDirectionZ
(output_control) point3d.z →
HTuple HTuple Htuple (real) (double ) (double ) (double )
Z-Komponente des Richtungsvektors der Schraubenachse.
AxisMomentOrPointX AxisMomentOrPointX AxisMomentOrPointX AxisMomentOrPointX axisMomentOrPointX
(output_control) point3d.x →
HTuple HTuple Htuple (real) (double ) (double ) (double )
X-Komponente des Momentenvektors oder eines Punktes
der Schraubenachse.
AxisMomentOrPointY AxisMomentOrPointY AxisMomentOrPointY AxisMomentOrPointY axisMomentOrPointY
(output_control) point3d.y →
HTuple HTuple Htuple (real) (double ) (double ) (double )
Y-Komponente des Momentenvektors oder eines Punktes
der Schraubenachse.
AxisMomentOrPointZ AxisMomentOrPointZ AxisMomentOrPointZ AxisMomentOrPointZ axisMomentOrPointZ
(output_control) point3d.z →
HTuple HTuple Htuple (real) (double ) (double ) (double )
Z-Komponente des Momentenvektors oder eines Punktes
der Schraubenachse.
Rotation Rotation Rotation Rotation rotation
(output_control) angle.rad →
HTuple HTuple Htuple (real) (double ) (double ) (double )
Rotationswinkel im Bogenmaß.
Translation Translation Translation Translation translation
(output_control) real →
HTuple HTuple Htuple (real) (double ) (double ) (double )
Translation.
Vorgänger
dual_quat_compose dual_quat_compose DualQuatCompose DualQuatCompose DualQuatCompose
,
dual_quat_conjugate dual_quat_conjugate DualQuatConjugate DualQuatConjugate DualQuatConjugate
,
dual_quat_interpolate dual_quat_interpolate DualQuatInterpolate DualQuatInterpolate DualQuatInterpolate
Alternativen
dual_quat_to_pose dual_quat_to_pose DualQuatToPose DualQuatToPose DualQuatToPose
,
dual_quat_to_hom_mat3d dual_quat_to_hom_mat3d DualQuatToHomMat3d DualQuatToHomMat3d DualQuatToHomMat3d
Siehe auch
pose_to_dual_quat pose_to_dual_quat PoseToDualQuat PoseToDualQuat PoseToDualQuat
,
dual_quat_normalize dual_quat_normalize DualQuatNormalize DualQuatNormalize DualQuatNormalize
,
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
,
screw_to_dual_quat screw_to_dual_quat ScrewToDualQuat ScrewToDualQuat ScrewToDualQuat
Modul
Foundation