dual_quat_normalizeT_dual_quat_normalizeDualQuatNormalizeDualQuatNormalize (Operator)

Name

dual_quat_normalizeT_dual_quat_normalizeDualQuatNormalizeDualQuatNormalize — Normalize a dual quaternion.

Signature

Description

The operator dual_quat_normalizedual_quat_normalizeDualQuatNormalizeDualQuatNormalizeDualQuatNormalize normalizes the input dual quaternion DualQuaternionDualQuaternionDualQuaternionDualQuaterniondualQuaternion and returns the normalized dual quaternion, which is also called a unit dual quaternion, in DualQuaternionNormalizedDualQuaternionNormalizedDualQuaternionNormalizedDualQuaternionNormalizeddualQuaternionNormalized.

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 norm of a unit dual quaternion is 1, i.e., . This is equivalent to the following two conditions: where represents the conjugate quaternion of (see quat_conjugatequat_conjugateQuatConjugateQuatConjugateQuatConjugate).

A 3D rigid transformation can be represented by a unit dual quaternion.

Attention

If the norm of the real part of DualQuaternionDualQuaternionDualQuaternionDualQuaterniondualQuaternion is 0, dual_quat_normalizedual_quat_normalizeDualQuatNormalizeDualQuatNormalizeDualQuatNormalize returns the error code 9310 (H_ERR_DQ_ZERO_NORM) because in this case no normalization is possible.

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

Possible Successors

dual_quat_to_hom_mat3ddual_quat_to_hom_mat3dDualQuatToHomMat3dDualQuatToHomMat3dDualQuatToHomMat3d

See also

dual_quat_interpolatedual_quat_interpolateDualQuatInterpolateDualQuatInterpolateDualQuatInterpolate, pose_to_dual_quatpose_to_dual_quatPoseToDualQuatPoseToDualQuatPoseToDualQuat, screw_to_dual_quatscrew_to_dual_quatScrewToDualQuatScrewToDualQuatScrewToDualQuat, dual_quat_to_screwdual_quat_to_screwDualQuatToScrewDualQuatToScrewDualQuatToScrew, dual_quat_to_posedual_quat_to_poseDualQuatToPoseDualQuatToPoseDualQuatToPose, dual_quat_conjugatedual_quat_conjugateDualQuatConjugateDualQuatConjugateDualQuatConjugate, serialize_dual_quatserialize_dual_quatSerializeDualQuatSerializeDualQuatSerializeDualQuat, deserialize_dual_quatdeserialize_dual_quatDeserializeDualQuatDeserializeDualQuatDeserializeDualQuat, dual_quat_trans_line_3ddual_quat_trans_line_3dDualQuatTransLine3dDualQuatTransLine3dDualQuatTransLine3d, quat_normalizequat_normalizeQuatNormalizeQuatNormalizeQuatNormalize

Module

Foundation