HALCON 17.12 / HALCON Operator Reference / Transformations / Poses
ClassesClasses | | Operators

pose_to_dual_quatT_pose_to_dual_quatPoseToDualQuatPoseToDualQuat (Operator)

Name

pose_to_dual_quatT_pose_to_dual_quatPoseToDualQuatPoseToDualQuat — 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)

Description

The operator pose_to_dual_quatpose_to_dual_quatPoseToDualQuatPoseToDualQuatPoseToDualQuat converts the input PosePosePosePosepose into its corresponding unit 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).

Because and represent the same rigid transformation, the sign of the resulting dual quaternion DualQuaternionDualQuaternionDualQuaternionDualQuaterniondualQuaternion is chosen such that the scalar part of the real part is .

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

Execution Information

Parameters

PosePosePosePosepose (input_control)  pose(-array) → HPose, HTupleHTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)

3D pose.

DualQuaternionDualQuaternionDualQuaternionDualQuaterniondualQuaternion (output_control)  dual_quaternion(-array) → HDualQuaternion, HTupleHTupleHtuple (real) (double) (double) (double)

Unit dual quaternion.

Possible Predecessors

create_posecreate_poseCreatePoseCreatePoseCreatePose, read_poseread_poseReadPoseReadPoseReadPose

Possible Successors

dual_quat_composedual_quat_composeDualQuatComposeDualQuatComposeDualQuatCompose, dual_quat_interpolatedual_quat_interpolateDualQuatInterpolateDualQuatInterpolateDualQuatInterpolate, dual_quat_to_screwdual_quat_to_screwDualQuatToScrewDualQuatToScrewDualQuatToScrew, dual_quat_conjugatedual_quat_conjugateDualQuatConjugateDualQuatConjugateDualQuatConjugate

Alternatives

pose_to_hom_mat3dpose_to_hom_mat3dPoseToHomMat3dPoseToHomMat3dPoseToHomMat3d, screw_to_dual_quatscrew_to_dual_quatScrewToDualQuatScrewToDualQuatScrewToDualQuat

See also

dual_quat_to_hom_mat3ddual_quat_to_hom_mat3dDualQuatToHomMat3dDualQuatToHomMat3dDualQuatToHomMat3d, dual_quat_to_posedual_quat_to_poseDualQuatToPoseDualQuatToPoseDualQuatToPose, dual_quat_normalizedual_quat_normalizeDualQuatNormalizeDualQuatNormalizeDualQuatNormalize, serialize_dual_quatserialize_dual_quatSerializeDualQuatSerializeDualQuatSerializeDualQuat, deserialize_dual_quatdeserialize_dual_quatDeserializeDualQuatDeserializeDualQuatDeserializeDualQuat, dual_quat_trans_line_3ddual_quat_trans_line_3dDualQuatTransLine3dDualQuatTransLine3dDualQuatTransLine3d, pose_to_quatpose_to_quatPoseToQuatPoseToQuatPoseToQuat

Module

Foundation

ClassesClasses | | Operators
HALCON Operator Reference 17.12 Copyright © 1996-2017 MVTec Software GmbH