dual_quat_conjugateT_dual_quat_conjugateDualQuatConjugateDualQuatConjugate (Operator)

Name

dual_quat_conjugateT_dual_quat_conjugateDualQuatConjugateDualQuatConjugate — Conjugate a dual quaternion.

Signature

Description

The operator dual_quat_conjugatedual_quat_conjugateDualQuatConjugateDualQuatConjugateDualQuatConjugate computes the conjugation DualQuaternionConjugateDualQuaternionConjugateDualQuaternionConjugateDualQuaternionConjugatedualQuaternionConjugate of the input dual quaternion DualQuaternionDualQuaternionDualQuaternionDualQuaterniondualQuaternion.

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).

The conjugation of a dual quaternion is given by , where and are the conjugations of the quaternions and .

For the conjugation of quaternions see quat_conjugatequat_conjugateQuatConjugateQuatConjugateQuatConjugate.

If DualQuaternionDualQuaternionDualQuaternionDualQuaterniondualQuaternion is a unit dual quaternion and, hence, represents a 3D rigid transformation, its inverse is its conjugate, i.e., . Consequently, DualQuaternionConjugateDualQuaternionConjugateDualQuaternionConjugateDualQuaternionConjugatedualQuaternionConjugate represents the inverse 3D rigid transformation of DualQuaternionDualQuaternionDualQuaternionDualQuaterniondualQuaternion. Therefore, dual_quat_conjugatedual_quat_conjugateDualQuatConjugateDualQuatConjugateDualQuatConjugate can be used to invert a 3D rigid transformation analogously to pose_invertpose_invertPoseInvertPoseInvertPoseInvert or hom_mat3d_inverthom_mat3d_invertHomMat3dInvertHomMat3dInvertHomMat3dInvert.

Execution Information

• Multithreading type: reentrant (runs in parallel with non-exclusive operators).
• Multithreading scope: global (may be called from any thread).
• Processed without parallelization.

Parameters

Possible Predecessors

dual_quat_composedual_quat_composeDualQuatComposeDualQuatComposeDualQuatCompose, pose_to_dual_quatpose_to_dual_quatPoseToDualQuatPoseToDualQuatPoseToDualQuat, screw_to_dual_quatscrew_to_dual_quatScrewToDualQuatScrewToDualQuatScrewToDualQuat

Possible Successors

dual_quat_composedual_quat_composeDualQuatComposeDualQuatComposeDualQuatCompose, dual_quat_to_hom_mat3ddual_quat_to_hom_mat3dDualQuatToHomMat3dDualQuatToHomMat3dDualQuatToHomMat3d, dual_quat_to_screwdual_quat_to_screwDualQuatToScrewDualQuatToScrewDualQuatToScrew, dual_quat_interpolatedual_quat_interpolateDualQuatInterpolateDualQuatInterpolateDualQuatInterpolate, dual_quat_to_posedual_quat_to_poseDualQuatToPoseDualQuatToPoseDualQuatToPose

Alternatives

pose_invertpose_invertPoseInvertPoseInvertPoseInvert, hom_mat3d_inverthom_mat3d_invertHomMat3dInvertHomMat3dInvertHomMat3dInvert

See also

dual_quat_normalizedual_quat_normalizeDualQuatNormalizeDualQuatNormalizeDualQuatNormalize, serialize_dual_quatserialize_dual_quatSerializeDualQuatSerializeDualQuatSerializeDualQuat, deserialize_dual_quatdeserialize_dual_quatDeserializeDualQuatDeserializeDualQuatDeserializeDualQuat, dual_quat_trans_line_3ddual_quat_trans_line_3dDualQuatTransLine3dDualQuatTransLine3dDualQuatTransLine3d, quat_conjugatequat_conjugateQuatConjugateQuatConjugateQuatConjugate

Module

Foundation