dual_quat_to_hom_mat3d — Convert a unit dual quaternion into a homogeneous transformation matrix.
dual_quat_to_hom_mat3d converts a unit dual quaternion
DualQuaternion, which represents a 3D rigid transformation,
into its corresponding homogeneous transformation matrix
For a brief introduction to dual quaternions, the used notation, and the
relationship between dual quaternions and screws, see
“Solution Guide III-C - 3D Vision”.
The rotation part of
HomMat3D is computed from the
real part of the dual quaternion, as described in
The translation part of
HomMat3D is computed
from the real and dual part of
where is the vector part of the quaternion
HomMat3D will only be a valid rigid transformation matrix if
DualQuaternion is a unit dual quaternion.
Unit dual quaternion.