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dual_quat_to_poseDualQuatToPoseDualQuatToPosedual_quat_to_poseT_dual_quat_to_pose🔗

Short description🔗

dual_quat_to_poseDualQuatToPoseDualQuatToPosedual_quat_to_poseT_dual_quat_to_pose — Convert a dual quaternion to a 3D pose.

Signature🔗

dual_quat_to_pose( dual_quaternion DualQuaternion, out pose Pose )void DualQuatToPose( const HTuple& DualQuaternion, HTuple* Pose )static void HOperatorSet.DualQuatToPose( HTuple dualQuaternion, out HTuple pose )def dual_quat_to_pose( dual_quaternion: Sequence[float] ) -> Sequence[Union[float, int]]

Herror T_dual_quat_to_pose( const Htuple DualQuaternion, Htuple* Pose )

static HPoseArray HDualQuaternion::DualQuatToPose( const HDualQuaternionArray& DualQuaternion )

HPose HDualQuaternion::DualQuatToPose( ) const

static HPose[] HDualQuaternion.DualQuatToPose( HDualQuaternion[] dualQuaternion )

HPose HDualQuaternion.DualQuatToPose( )

Description🔗

The operator dual_quat_to_poseDualQuatToPose converts the input DualQuaterniondualQuaterniondual_quaternion into its corresponding 3D Poseposepose.

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 DualQuaterniondualQuaterniondual_quaternion, in which case a pose is returned for each of them.

Attention🔗

dual_quat_to_poseDualQuatToPose assumes that the input DualQuaterniondualQuaterniondual_quaternion is a unit dual quaternion, and hence represents a 3D rigid transformation. Otherwise the returned pose is not meaningful.

Execution information🔗

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🔗

DualQuaterniondualQuaterniondual_quaternion (input_control) dual_quaternion(-array) → (real)HTuple (double)HDualQuaternion, HTuple (double)Sequence[float]Htuple (double)

Unit dual quaternion.

Poseposepose (output_control) pose(-array) → (real / integer)HTuple (double / Hlong)HPose, HTuple (double / int / long)Sequence[Union[float, int]]Htuple (double / Hlong)

3D pose.

Combinations with other operators🔗

Combinations

Possible predecessors

dual_quat_composeDualQuatCompose, dual_quat_interpolateDualQuatInterpolate, screw_to_dual_quatScrewToDualQuat, dual_quat_conjugateDualQuatConjugate

Possible successors

camera_calibrationCameraCalibration, hand_eye_calibrationHandEyeCalibration, write_poseWritePose, disp_caltabDispCaltab, sim_caltabSimCaltab

Alternatives

dual_quat_to_screwDualQuatToScrew, dual_quat_to_hom_mat3dDualQuatToHomMat3d

See also

pose_to_dual_quatPoseToDualQuat, dual_quat_normalizeDualQuatNormalize, serialize_dual_quatSerializeDualQuat, deserialize_dual_quatDeserializeDualQuat, dual_quat_trans_line_3dDualQuatTransLine3d, dual_quat_trans_point_3dDualQuatTransPoint3d, quat_to_poseQuatToPose

Module🔗

Foundation