Operator Reference

HALCON Operator Reference / Transformations / Dual Quaternions

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dual_quat_composeT_dual_quat_composeDualQuatComposeDualQuatComposedual_quat_compose (Operator)

dual_quat_composeT_dual_quat_composeDualQuatComposeDualQuatComposedual_quat_compose — Multiply two dual quaternions.

Signature

dual_quat_compose( : : DualQuaternionLeft, DualQuaternionRight : DualQuaternionComposed)

Herror T_dual_quat_compose(const Htuple DualQuaternionLeft, const Htuple DualQuaternionRight, Htuple* DualQuaternionComposed)

void DualQuatCompose(const HTuple& DualQuaternionLeft, const HTuple& DualQuaternionRight, HTuple* DualQuaternionComposed)

static HDualQuaternionArray HDualQuaternion::DualQuatCompose(const HDualQuaternionArray& DualQuaternionLeft, const HDualQuaternionArray& DualQuaternionRight)

HDualQuaternion HDualQuaternion::DualQuatCompose(const HDualQuaternion& DualQuaternionRight) const

static void HOperatorSet.DualQuatCompose(HTuple dualQuaternionLeft, HTuple dualQuaternionRight, out HTuple dualQuaternionComposed)

static HDualQuaternion[] HDualQuaternion.DualQuatCompose(HDualQuaternion[] dualQuaternionLeft, HDualQuaternion[] dualQuaternionRight)

HDualQuaternion HDualQuaternion.DualQuatCompose(HDualQuaternion dualQuaternionRight)

def dual_quat_compose(dual_quaternion_left: Sequence[float], dual_quaternion_right: Sequence[float]) -> Sequence[float]

Description

The operator dual_quat_composedual_quat_composeDualQuatComposeDualQuatComposedual_quat_compose multiplies the two dual quaternions DualQuaternionLeftDualQuaternionLeftDualQuaternionLeftdualQuaternionLeftdual_quaternion_left and DualQuaternionRightDualQuaternionRightDualQuaternionRightdualQuaternionRightdual_quaternion_right and returns the product in DualQuaternionComposedDualQuaternionComposedDualQuaternionComposeddualQuaternionComposeddual_quaternion_composed.

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”.

The multiplication of the dual quaternions and is .

For the multiplication of quaternions see quat_composequat_composeQuatComposeQuatComposequat_compose.

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

If DualQuaternionLeftDualQuaternionLeftDualQuaternionLeftdualQuaternionLeftdual_quaternion_left and DualQuaternionRightDualQuaternionRightDualQuaternionRightdualQuaternionRightdual_quaternion_right 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_composeDualQuatComposeDualQuatComposedual_quat_compose can be used to concatenate two 3D rigid transformations analogously to pose_composepose_composePoseComposePoseComposepose_compose or hom_mat3d_composehom_mat3d_composeHomMat3dComposeHomMat3dComposehom_mat3d_compose.

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

DualQuaternionLeftDualQuaternionLeftDualQuaternionLeftdualQuaternionLeftdual_quaternion_left (input_control)  dual_quaternion(-array) → HDualQuaternion, HTupleSequence[float]HTupleHtuple (real) (double) (double) (double)

Left dual quaternion.

DualQuaternionRightDualQuaternionRightDualQuaternionRightdualQuaternionRightdual_quaternion_right (input_control)  dual_quaternion(-array) → HDualQuaternion, HTupleSequence[float]HTupleHtuple (real) (double) (double) (double)

Right dual quaternion.

DualQuaternionComposedDualQuaternionComposedDualQuaternionComposeddualQuaternionComposeddual_quaternion_composed (output_control)  dual_quaternion(-array) → HDualQuaternion, HTupleSequence[float]HTupleHtuple (real) (double) (double) (double)

Product of the dual quaternions.

Possible Predecessors

screw_to_dual_quatscrew_to_dual_quatScrewToDualQuatScrewToDualQuatscrew_to_dual_quat

Possible Successors

dual_quat_to_hom_mat3ddual_quat_to_hom_mat3dDualQuatToHomMat3dDualQuatToHomMat3ddual_quat_to_hom_mat3d, dual_quat_to_posedual_quat_to_poseDualQuatToPoseDualQuatToPosedual_quat_to_pose, dual_quat_to_screwdual_quat_to_screwDualQuatToScrewDualQuatToScrewdual_quat_to_screw

Alternatives

pose_composepose_composePoseComposePoseComposepose_compose, hom_mat3d_composehom_mat3d_composeHomMat3dComposeHomMat3dComposehom_mat3d_compose

See also

dual_quat_interpolatedual_quat_interpolateDualQuatInterpolateDualQuatInterpolatedual_quat_interpolate, pose_to_dual_quatpose_to_dual_quatPoseToDualQuatPoseToDualQuatpose_to_dual_quat, dual_quat_normalizedual_quat_normalizeDualQuatNormalizeDualQuatNormalizedual_quat_normalize, dual_quat_conjugatedual_quat_conjugateDualQuatConjugateDualQuatConjugatedual_quat_conjugate, serialize_dual_quatserialize_dual_quatSerializeDualQuatSerializeDualQuatserialize_dual_quat, deserialize_dual_quatdeserialize_dual_quatDeserializeDualQuatDeserializeDualQuatdeserialize_dual_quat, dual_quat_trans_line_3ddual_quat_trans_line_3dDualQuatTransLine3dDualQuatTransLine3ddual_quat_trans_line_3d, dual_quat_trans_point_3ddual_quat_trans_point_3dDualQuatTransPoint3dDualQuatTransPoint3ddual_quat_trans_point_3d, quat_composequat_composeQuatComposeQuatComposequat_compose

Module

Foundation

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ClassesClasses | | Operators