pose_to_dual_quatT_pose_to_dual_quatPoseToDualQuatPoseToDualQuatpose_to_dual_quat (Operator)

Name

pose_to_dual_quatT_pose_to_dual_quatPoseToDualQuatPoseToDualQuatpose_to_dual_quat — Convert a 3D pose to a unit dual quaternion.

Signature

pose_to_dual_quat( : : Pose : DualQuaternion)

Description

The operator pose_to_dual_quatpose_to_dual_quatPoseToDualQuatPoseToDualQuatPoseToDualQuatpose_to_dual_quat converts the input PosePosePosePoseposepose into its corresponding unit dual quaternion DualQuaternionDualQuaternionDualQuaternionDualQuaterniondualQuaterniondual_quaternion.

For a brief introduction to dual quaternions, the used notation, and the relationship between dual quaternions and screws, see “Solution Guide III-C - 3D Vision”.

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

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

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

PosePosePosePoseposepose (input_control) pose(-array) → (real / integer)

3D pose.

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

Unit dual quaternion.

Possible Predecessors

create_posecreate_poseCreatePoseCreatePoseCreatePosecreate_pose, read_poseread_poseReadPoseReadPoseReadPoseread_pose

Possible Successors

dual_quat_composedual_quat_composeDualQuatComposeDualQuatComposeDualQuatComposedual_quat_compose, dual_quat_interpolatedual_quat_interpolateDualQuatInterpolateDualQuatInterpolateDualQuatInterpolatedual_quat_interpolate, dual_quat_to_screwdual_quat_to_screwDualQuatToScrewDualQuatToScrewDualQuatToScrewdual_quat_to_screw, dual_quat_conjugatedual_quat_conjugateDualQuatConjugateDualQuatConjugateDualQuatConjugatedual_quat_conjugate

Alternatives

pose_to_hom_mat3dpose_to_hom_mat3dPoseToHomMat3dPoseToHomMat3dPoseToHomMat3dpose_to_hom_mat3d, screw_to_dual_quatscrew_to_dual_quatScrewToDualQuatScrewToDualQuatScrewToDualQuatscrew_to_dual_quat

See also

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_normalizedual_quat_normalizeDualQuatNormalizeDualQuatNormalizeDualQuatNormalizedual_quat_normalize, 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, pose_to_quatpose_to_quatPoseToQuatPoseToQuatPoseToQuatpose_to_quat

Module

Foundation