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pose_to_dual_quatT_pose_to_dual_quatPoseToDualQuatPoseToDualQuatpose_to_dual_quat (Operator)

Name

pose_to_dual_quatT_pose_to_dual_quatPoseToDualQuatPoseToDualQuatpose_to_dual_quat — Convert a 3D pose to a unit dual quaternion.

Signature

pose_to_dual_quat( : : Pose : DualQuaternion)

Herror T_pose_to_dual_quat(const Htuple Pose, Htuple* DualQuaternion)

void PoseToDualQuat(const HTuple& Pose, HTuple* DualQuaternion)

void HDualQuaternion::HDualQuaternion(const HPose& Pose)

static HDualQuaternionArray HDualQuaternion::PoseToDualQuat(const HPoseArray& Pose)

void HDualQuaternion::PoseToDualQuat(const HPose& Pose)

static void HOperatorSet.PoseToDualQuat(HTuple pose, out HTuple dualQuaternion)

public HDualQuaternion(HPose pose)

static HDualQuaternion[] HDualQuaternion.PoseToDualQuat(HPose[] pose)

void HDualQuaternion.PoseToDualQuat(HPose pose)

def pose_to_dual_quat(pose: Sequence[Union[float, int]]) -> Sequence[float]

Description

The operator pose_to_dual_quatpose_to_dual_quatPoseToDualQuatPoseToDualQuatPoseToDualQuatpose_to_dual_quat converts the input PosePosePosePoseposepose into its corresponding unit dual quaternion DualQuaternionDualQuaternionDualQuaternionDualQuaterniondualQuaterniondual_quaternion.

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 DualQuaternionDualQuaternionDualQuaternionDualQuaterniondualQuaterniondual_quaternion is chosen such that the scalar part of the real part is .

Multiple poses can be passed in PosePosePosePoseposepose, in which case a unit dual quaternion is returned for each of them.

Execution Information

Parameters

PosePosePosePoseposepose (input_control)  pose(-array) → HPose, HTupleSequence[Union[float, int]]HTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)

3D pose.

DualQuaternionDualQuaternionDualQuaternionDualQuaterniondualQuaterniondual_quaternion (output_control)  dual_quaternion(-array) → HDualQuaternion, HTupleSequence[float]HTupleHtuple (real) (double) (double) (double)

Unit dual quaternion.

Possible Predecessors

create_posecreate_poseCreatePoseCreatePoseCreatePosecreate_pose, read_poseread_poseReadPoseReadPoseReadPoseread_pose

Possible Successors

dual_quat_composedual_quat_composeDualQuatComposeDualQuatComposeDualQuatComposedual_quat_compose, dual_quat_interpolatedual_quat_interpolateDualQuatInterpolateDualQuatInterpolateDualQuatInterpolatedual_quat_interpolate, dual_quat_to_screwdual_quat_to_screwDualQuatToScrewDualQuatToScrewDualQuatToScrewdual_quat_to_screw, dual_quat_conjugatedual_quat_conjugateDualQuatConjugateDualQuatConjugateDualQuatConjugatedual_quat_conjugate

Alternatives

pose_to_hom_mat3dpose_to_hom_mat3dPoseToHomMat3dPoseToHomMat3dPoseToHomMat3dpose_to_hom_mat3d, screw_to_dual_quatscrew_to_dual_quatScrewToDualQuatScrewToDualQuatScrewToDualQuatscrew_to_dual_quat

See also

dual_quat_to_hom_mat3ddual_quat_to_hom_mat3dDualQuatToHomMat3dDualQuatToHomMat3dDualQuatToHomMat3ddual_quat_to_hom_mat3d, dual_quat_to_posedual_quat_to_poseDualQuatToPoseDualQuatToPoseDualQuatToPosedual_quat_to_pose, dual_quat_normalizedual_quat_normalizeDualQuatNormalizeDualQuatNormalizeDualQuatNormalizedual_quat_normalize, serialize_dual_quatserialize_dual_quatSerializeDualQuatSerializeDualQuatSerializeDualQuatserialize_dual_quat, deserialize_dual_quatdeserialize_dual_quatDeserializeDualQuatDeserializeDualQuatDeserializeDualQuatdeserialize_dual_quat, dual_quat_trans_line_3ddual_quat_trans_line_3dDualQuatTransLine3dDualQuatTransLine3dDualQuatTransLine3ddual_quat_trans_line_3d, pose_to_quatpose_to_quatPoseToQuatPoseToQuatPoseToQuatpose_to_quat

Module

Foundation

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HALCON Operator Reference 20.11.4.0 Copyright © 1996-2023 MVTec Software GmbH