dual_quat_composeT_dual_quat_composeDualQuatComposeDualQuatCompose (Operator)

Name

dual_quat_composeT_dual_quat_composeDualQuatComposeDualQuatCompose — Multiply two dual quaternions.

Signature

Description

The operator dual_quat_composedual_quat_composeDualQuatComposeDualQuatComposeDualQuatCompose multiplies the two dual quaternions DualQuaternionLeftDualQuaternionLeftDualQuaternionLeftDualQuaternionLeftdualQuaternionLeft and DualQuaternionRightDualQuaternionRightDualQuaternionRightDualQuaternionRightdualQuaternionRight and returns the product in DualQuaternionComposedDualQuaternionComposedDualQuaternionComposedDualQuaternionComposeddualQuaternionComposed.

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 multiplication of the dual quaternions and is .

For the multiplication of quaternions see quat_composequat_composeQuatComposeQuatComposeQuatCompose.

Note that the multiplication of two dual quaternions is not commutative, i.e., .

If DualQuaternionLeftDualQuaternionLeftDualQuaternionLeftDualQuaternionLeftdualQuaternionLeft and DualQuaternionRightDualQuaternionRightDualQuaternionRightDualQuaternionRightdualQuaternionRight are unit dual quaternions and, hence, represent 3D rigid transformations, their multiplication corresponds to the multiplication of their corresponding homogeneous transformation matrices. Consequently, dual_quat_composedual_quat_composeDualQuatComposeDualQuatComposeDualQuatCompose can be used to concatenate two 3D rigid transformations analogously to pose_composepose_composePoseComposePoseComposePoseCompose or hom_mat3d_composehom_mat3d_composeHomMat3dComposeHomMat3dComposeHomMat3dCompose.

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

screw_to_dual_quatscrew_to_dual_quatScrewToDualQuatScrewToDualQuatScrewToDualQuat

Possible Successors

dual_quat_to_hom_mat3ddual_quat_to_hom_mat3dDualQuatToHomMat3dDualQuatToHomMat3dDualQuatToHomMat3d, dual_quat_to_posedual_quat_to_poseDualQuatToPoseDualQuatToPoseDualQuatToPose, dual_quat_to_screwdual_quat_to_screwDualQuatToScrewDualQuatToScrewDualQuatToScrew

Alternatives

pose_composepose_composePoseComposePoseComposePoseCompose, hom_mat3d_composehom_mat3d_composeHomMat3dComposeHomMat3dComposeHomMat3dCompose

See also

dual_quat_interpolatedual_quat_interpolateDualQuatInterpolateDualQuatInterpolateDualQuatInterpolate, pose_to_dual_quatpose_to_dual_quatPoseToDualQuatPoseToDualQuatPoseToDualQuat, dual_quat_normalizedual_quat_normalizeDualQuatNormalizeDualQuatNormalizeDualQuatNormalize, 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_composequat_composeQuatComposeQuatComposeQuatCompose

Module

Foundation