dual_quat_to_poseT_dual_quat_to_poseDualQuatToPoseDualQuatToPosedual_quat_to_pose (Operator)
dual_quat_to_poseT_dual_quat_to_poseDualQuatToPoseDualQuatToPosedual_quat_to_pose — Convert a dual quaternion to a 3D pose.
Signature
def dual_quat_to_pose(dual_quaternion: Sequence[float]) -> Sequence[Union[float, int]]
Description
The operator dual_quat_to_posedual_quat_to_poseDualQuatToPoseDualQuatToPosedual_quat_to_pose converts the input
DualQuaternionDualQuaternionDualQuaterniondualQuaterniondual_quaternion into its corresponding 3D PosePosePoseposepose.
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”.
Multiple dual quaternions can be passed in DualQuaternionDualQuaternionDualQuaterniondualQuaterniondual_quaternion, in which
case a pose is returned for each of them.
Attention
dual_quat_to_posedual_quat_to_poseDualQuatToPoseDualQuatToPosedual_quat_to_pose assumes that the input DualQuaternionDualQuaternionDualQuaterniondualQuaterniondual_quaternion
is a unit dual quaternion, and hence represents a 3D rigid
transformation. Otherwise the returned pose is not meaningful.
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
DualQuaternionDualQuaternionDualQuaterniondualQuaterniondual_quaternion (input_control) dual_quaternion(-array) → HDualQuaternion, HTupleSequence[float]HTupleHtuple (real) (double) (double) (double)
Unit dual quaternion.
PosePosePoseposepose (output_control) pose(-array) → HPose, HTupleSequence[Union[float, int]]HTupleHtuple (real / integer) (double / int / long) (double / Hlong) (double / Hlong)
3D pose.
Possible Predecessors
dual_quat_composedual_quat_composeDualQuatComposeDualQuatComposedual_quat_compose,
dual_quat_interpolatedual_quat_interpolateDualQuatInterpolateDualQuatInterpolatedual_quat_interpolate,
screw_to_dual_quatscrew_to_dual_quatScrewToDualQuatScrewToDualQuatscrew_to_dual_quat,
dual_quat_conjugatedual_quat_conjugateDualQuatConjugateDualQuatConjugatedual_quat_conjugate
Possible Successors
camera_calibrationcamera_calibrationCameraCalibrationCameraCalibrationcamera_calibration,
hand_eye_calibrationhand_eye_calibrationHandEyeCalibrationHandEyeCalibrationhand_eye_calibration,
write_posewrite_poseWritePoseWritePosewrite_pose,
disp_caltabdisp_caltabDispCaltabDispCaltabdisp_caltab,
sim_caltabsim_caltabSimCaltabSimCaltabsim_caltab
Alternatives
dual_quat_to_screwdual_quat_to_screwDualQuatToScrewDualQuatToScrewdual_quat_to_screw,
dual_quat_to_hom_mat3ddual_quat_to_hom_mat3dDualQuatToHomMat3dDualQuatToHomMat3ddual_quat_to_hom_mat3d
See also
pose_to_dual_quatpose_to_dual_quatPoseToDualQuatPoseToDualQuatpose_to_dual_quat,
dual_quat_normalizedual_quat_normalizeDualQuatNormalizeDualQuatNormalizedual_quat_normalize,
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_to_posequat_to_poseQuatToPoseQuatToPosequat_to_pose
Module
Foundation