dual_quat_composeT_dual_quat_composeDualQuatComposeDualQuatComposedual_quat_compose (Operator)

Name

dual_quat_composeT_dual_quat_composeDualQuatComposeDualQuatComposedual_quat_compose — Multiplikation zweier dualer Quaternionen.

Signatur

dual_quat_compose( : : DualQuaternionLeft, DualQuaternionRight : DualQuaternionComposed)

Beschreibung

Der Operator dual_quat_composedual_quat_composeDualQuatComposeDualQuatComposeDualQuatComposedual_quat_compose multipliziert die zwei dualen Quaternionen DualQuaternionLeftDualQuaternionLeftDualQuaternionLeftDualQuaternionLeftdualQuaternionLeftdual_quaternion_left und DualQuaternionRightDualQuaternionRightDualQuaternionRightDualQuaternionRightdualQuaternionRightdual_quaternion_right und gibt das Produkt in DualQuaternionComposedDualQuaternionComposedDualQuaternionComposedDualQuaternionComposeddualQuaternionComposeddual_quaternion_composed zurück.

Eine kurze Einführung in duale Quaternionen, die verwendete Notation und die Beziehung zwischen dualen Quaternionen und Schraubungen findet sich in „Solution Guide III-C - 3D Vision“.

Die Multiplikation der dualen Quaternionen und ist .

Informationen zur Multiplikation von Quaternionen sind in der Beschreibung von quat_composequat_composeQuatComposeQuatComposeQuatComposequat_compose zu finden.

Zu beachten ist, dass die Multiplikation zweier dualer Quaternionen nicht kommutativ ist, d.h. .

Falls DualQuaternionLeftDualQuaternionLeftDualQuaternionLeftDualQuaternionLeftdualQuaternionLeftdual_quaternion_left und DualQuaternionRightDualQuaternionRightDualQuaternionRightDualQuaternionRightdualQuaternionRightdual_quaternion_right duale Einheitsquaternionen sind und damit starre 3D-Abbildungen darstellen, entspricht ihre Multiplikation der Multiplikation ihrer entsprechenden homogenen Transformationsmatrizen. Daher kann dual_quat_composedual_quat_composeDualQuatComposeDualQuatComposeDualQuatComposedual_quat_compose zur Hintereinanderschaltung zweier starrer 3D-Abbildungen verwendet werden analog zu pose_composepose_composePoseComposePoseComposePoseComposepose_compose oder hom_mat3d_composehom_mat3d_composeHomMat3dComposeHomMat3dComposeHomMat3dComposehom_mat3d_compose.

Ausführungsinformationen

Multithreading-Typ: reentrant (läuft parallel zu nicht-exklusiven Operatoren).
Multithreading-Bereich: global (kann von jedem Thread aufgerufen werden).
Wird ohne Parallelisierung verarbeitet.

Parameter

DualQuaternionLeftDualQuaternionLeftDualQuaternionLeftDualQuaternionLeftdualQuaternionLeftdual_quaternion_left (input_control) dual_quaternion(-array) → (real)

Linke duale Quaternion.

DualQuaternionRightDualQuaternionRightDualQuaternionRightDualQuaternionRightdualQuaternionRightdual_quaternion_right (input_control) dual_quaternion(-array) → (real)

Rechte duale Quaternion.

DualQuaternionComposedDualQuaternionComposedDualQuaternionComposedDualQuaternionComposeddualQuaternionComposeddual_quaternion_composed (output_control) dual_quaternion(-array) → (real)

Produkt der dualen Quaternionen.

Vorgänger

screw_to_dual_quatscrew_to_dual_quatScrewToDualQuatScrewToDualQuatScrewToDualQuatscrew_to_dual_quat

Nachfolger

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_to_screwdual_quat_to_screwDualQuatToScrewDualQuatToScrewDualQuatToScrewdual_quat_to_screw

Alternativen

pose_composepose_composePoseComposePoseComposePoseComposepose_compose, hom_mat3d_composehom_mat3d_composeHomMat3dComposeHomMat3dComposeHomMat3dComposehom_mat3d_compose

Siehe auch

dual_quat_interpolatedual_quat_interpolateDualQuatInterpolateDualQuatInterpolateDualQuatInterpolatedual_quat_interpolate, pose_to_dual_quatpose_to_dual_quatPoseToDualQuatPoseToDualQuatPoseToDualQuatpose_to_dual_quat, dual_quat_normalizedual_quat_normalizeDualQuatNormalizeDualQuatNormalizeDualQuatNormalizedual_quat_normalize, dual_quat_conjugatedual_quat_conjugateDualQuatConjugateDualQuatConjugateDualQuatConjugatedual_quat_conjugate, 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, dual_quat_trans_point_3ddual_quat_trans_point_3dDualQuatTransPoint3dDualQuatTransPoint3dDualQuatTransPoint3ddual_quat_trans_point_3d, quat_composequat_composeQuatComposeQuatComposeQuatComposequat_compose

Modul

Foundation

Operatoren