dual_quat_trans_line_3dDualQuatTransLine3dDualQuatTransLine3ddual_quat_trans_line_3dT_dual_quat_trans_line_3d
Short description
dual_quat_trans_line_3dDualQuatTransLine3dDualQuatTransLine3ddual_quat_trans_line_3dT_dual_quat_trans_line_3d — Transform a 3D line with a unit dual quaternion.
Signature
dual_quat_trans_line_3d( dual_quaternion DualQuaternion, string LineFormat, point3d.x LineDirectionX, point3d.y LineDirectionY, point3d.z LineDirectionZ, point3d.x LineMomentOrPointX, point3d.y LineMomentOrPointY, point3d.z LineMomentOrPointZ, out point3d.x TransLineDirectionX, out point3d.y TransLineDirectionY, out point3d.z TransLineDirectionZ, out point3d.x TransLineMomentOrPointX, out point3d.y TransLineMomentOrPointY, out point3d.z TransLineMomentOrPointZ )void DualQuatTransLine3d( const HTuple& DualQuaternion, const HTuple& LineFormat, const HTuple& LineDirectionX, const HTuple& LineDirectionY, const HTuple& LineDirectionZ, const HTuple& LineMomentOrPointX, const HTuple& LineMomentOrPointY, const HTuple& LineMomentOrPointZ, HTuple* TransLineDirectionX, HTuple* TransLineDirectionY, HTuple* TransLineDirectionZ, HTuple* TransLineMomentOrPointX, HTuple* TransLineMomentOrPointY, HTuple* TransLineMomentOrPointZ )static void HOperatorSet.DualQuatTransLine3d( HTuple dualQuaternion, HTuple lineFormat, HTuple lineDirectionX, HTuple lineDirectionY, HTuple lineDirectionZ, HTuple lineMomentOrPointX, HTuple lineMomentOrPointY, HTuple lineMomentOrPointZ, out HTuple transLineDirectionX, out HTuple transLineDirectionY, out HTuple transLineDirectionZ, out HTuple transLineMomentOrPointX, out HTuple transLineMomentOrPointY, out HTuple transLineMomentOrPointZ )def dual_quat_trans_line_3d( dual_quaternion: Sequence[Union[float, int]], line_format: str, line_direction_x: MaybeSequence[Union[float, int]], line_direction_y: MaybeSequence[Union[float, int]], line_direction_z: MaybeSequence[Union[float, int]], line_moment_or_point_x: MaybeSequence[Union[float, int]], line_moment_or_point_y: MaybeSequence[Union[float, int]], line_moment_or_point_z: MaybeSequence[Union[float, int]] ) -> Tuple[Sequence[Union[float, int]], Sequence[Union[float, int]], Sequence[Union[float, int]], Sequence[Union[float, int]], Sequence[Union[float, int]], Sequence[Union[float, int]]]
def dual_quat_trans_line_3d_s( dual_quaternion: Sequence[Union[float, int]], line_format: str, line_direction_x: MaybeSequence[Union[float, int]], line_direction_y: MaybeSequence[Union[float, int]], line_direction_z: MaybeSequence[Union[float, int]], line_moment_or_point_x: MaybeSequence[Union[float, int]], line_moment_or_point_y: MaybeSequence[Union[float, int]], line_moment_or_point_z: MaybeSequence[Union[float, int]] ) -> Tuple[Union[float, int], Union[float, int], Union[float, int], Union[float, int], Union[float, int], Union[float, int]]Herror T_dual_quat_trans_line_3d( const Htuple DualQuaternion, const Htuple LineFormat, const Htuple LineDirectionX, const Htuple LineDirectionY, const Htuple LineDirectionZ, const Htuple LineMomentOrPointX, const Htuple LineMomentOrPointY, const Htuple LineMomentOrPointZ, Htuple* TransLineDirectionX, Htuple* TransLineDirectionY, Htuple* TransLineDirectionZ, Htuple* TransLineMomentOrPointX, Htuple* TransLineMomentOrPointY, Htuple* TransLineMomentOrPointZ )
void HDualQuaternion::DualQuatTransLine3d( const HString& LineFormat, const HTuple& LineDirectionX, const HTuple& LineDirectionY, const HTuple& LineDirectionZ, const HTuple& LineMomentOrPointX, const HTuple& LineMomentOrPointY, const HTuple& LineMomentOrPointZ, HTuple* TransLineDirectionX, HTuple* TransLineDirectionY, HTuple* TransLineDirectionZ, HTuple* TransLineMomentOrPointX, HTuple* TransLineMomentOrPointY, HTuple* TransLineMomentOrPointZ ) const
void HDualQuaternion::DualQuatTransLine3d( const HString& LineFormat, double LineDirectionX, double LineDirectionY, double LineDirectionZ, double LineMomentOrPointX, double LineMomentOrPointY, double LineMomentOrPointZ, double* TransLineDirectionX, double* TransLineDirectionY, double* TransLineDirectionZ, double* TransLineMomentOrPointX, double* TransLineMomentOrPointY, double* TransLineMomentOrPointZ ) const
void HDualQuaternion::DualQuatTransLine3d( const char* LineFormat, double LineDirectionX, double LineDirectionY, double LineDirectionZ, double LineMomentOrPointX, double LineMomentOrPointY, double LineMomentOrPointZ, double* TransLineDirectionX, double* TransLineDirectionY, double* TransLineDirectionZ, double* TransLineMomentOrPointX, double* TransLineMomentOrPointY, double* TransLineMomentOrPointZ ) const
void HDualQuaternion::DualQuatTransLine3d( const wchar_t* LineFormat, double LineDirectionX, double LineDirectionY, double LineDirectionZ, double LineMomentOrPointX, double LineMomentOrPointY, double LineMomentOrPointZ, double* TransLineDirectionX, double* TransLineDirectionY, double* TransLineDirectionZ, double* TransLineMomentOrPointX, double* TransLineMomentOrPointY, double* TransLineMomentOrPointZ ) const (Windows only)
void HDualQuaternion.DualQuatTransLine3d( string lineFormat, HTuple lineDirectionX, HTuple lineDirectionY, HTuple lineDirectionZ, HTuple lineMomentOrPointX, HTuple lineMomentOrPointY, HTuple lineMomentOrPointZ, out HTuple transLineDirectionX, out HTuple transLineDirectionY, out HTuple transLineDirectionZ, out HTuple transLineMomentOrPointX, out HTuple transLineMomentOrPointY, out HTuple transLineMomentOrPointZ )
void HDualQuaternion.DualQuatTransLine3d( string lineFormat, double lineDirectionX, double lineDirectionY, double lineDirectionZ, double lineMomentOrPointX, double lineMomentOrPointY, double lineMomentOrPointZ, out double transLineDirectionX, out double transLineDirectionY, out double transLineDirectionZ, out double transLineMomentOrPointX, out double transLineMomentOrPointY, out double transLineMomentOrPointZ )
Description
The operator dual_quat_trans_line_3dDualQuatTransLine3d transforms a 3D line that
is represented by its Plücker coordinates by a 3D rigid transformation that
is given by the unit dual quaternion DualQuaterniondualQuaterniondual_quaternion.
For a brief introduction to dual quaternions, Plücker coordinates and the
used notation, see “Solution Guide III-C - 3D Vision”.
If LineFormatlineFormatline_format is set to 'moment'"moment", the moment of
the line must be passed in LineMomentOrPointXlineMomentOrPointXline_moment_or_point_x,
LineMomentOrPointYlineMomentOrPointYline_moment_or_point_y, and LineMomentOrPointZlineMomentOrPointZline_moment_or_point_z.
If LineFormatlineFormatline_format is set to 'point'"point", instead of the moment
an arbitrary point on the line can be passed in LineMomentOrPointXlineMomentOrPointXline_moment_or_point_x,
LineMomentOrPointYlineMomentOrPointYline_moment_or_point_y, and LineMomentOrPointZlineMomentOrPointZline_moment_or_point_z.
The parameters of the transformed line are returned in
TransLineDirectionXtransLineDirectionXtrans_line_direction_x, TransLineDirectionYtransLineDirectionYtrans_line_direction_y,
TransLineDirectionZtransLineDirectionZtrans_line_direction_z, TransLineMomentOrPointXtransLineMomentOrPointXtrans_line_moment_or_point_x,
TransLineMomentOrPointYtransLineMomentOrPointYtrans_line_moment_or_point_y, and TransLineMomentOrPointZtransLineMomentOrPointZtrans_line_moment_or_point_z in the
format that was specified in LineFormatlineFormatline_format.
If LineFormatlineFormatline_format is set to 'point'"point", the point on the line
that is closest to the origin of the coordinate system is returned.
Attention
dual_quat_trans_line_3dDualQuatTransLine3d returns meaningful results only if
DualQuaterniondualQuaterniondual_quaternion is a unit dual quaternion and the length of
the line direction is 1.
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 → (real / integer)HTuple (double / Hlong)HDualQuaternion, HTuple (double / int / long)Sequence[Union[float, int]]Htuple (double / Hlong)
Unit dual quaternion representing the transformation.
LineFormatlineFormatline_format (input_control) string → (string)HTuple (HString)HTuple (string)strHtuple (char*)
Format of the line parameters.
Default: 'moment'"moment"
List of values: 'moment', 'point'"moment", "point"
LineDirectionXlineDirectionXline_direction_x (input_control) point3d.x(-array) → (real / integer)HTuple (double / Hlong)HTuple (double / int / long)MaybeSequence[Union[float, int]]Htuple (double / Hlong)
X component of the direction vector of the line.
LineDirectionYlineDirectionYline_direction_y (input_control) point3d.y(-array) → (real / integer)HTuple (double / Hlong)HTuple (double / int / long)MaybeSequence[Union[float, int]]Htuple (double / Hlong)
Y component of the direction vector of the line.
LineDirectionZlineDirectionZline_direction_z (input_control) point3d.z(-array) → (real / integer)HTuple (double / Hlong)HTuple (double / int / long)MaybeSequence[Union[float, int]]Htuple (double / Hlong)
Z component of the direction vector of the line.
LineMomentOrPointXlineMomentOrPointXline_moment_or_point_x (input_control) point3d.x(-array) → (real / integer)HTuple (double / Hlong)HTuple (double / int / long)MaybeSequence[Union[float, int]]Htuple (double / Hlong)
X component of the moment vector or a point on the line.
LineMomentOrPointYlineMomentOrPointYline_moment_or_point_y (input_control) point3d.y(-array) → (real / integer)HTuple (double / Hlong)HTuple (double / int / long)MaybeSequence[Union[float, int]]Htuple (double / Hlong)
Y component of the moment vector or a point on the line.
LineMomentOrPointZlineMomentOrPointZline_moment_or_point_z (input_control) point3d.z(-array) → (real / integer)HTuple (double / Hlong)HTuple (double / int / long)MaybeSequence[Union[float, int]]Htuple (double / Hlong)
Z component of the moment vector or a point on the line.
TransLineDirectionXtransLineDirectionXtrans_line_direction_x (output_control) point3d.x(-array) → (real / integer)HTuple (double / Hlong)HTuple (double / int / long)Sequence[Union[float, int]]Htuple (double / Hlong)
X component of the direction vector of the
transformed line.
TransLineDirectionYtransLineDirectionYtrans_line_direction_y (output_control) point3d.y(-array) → (real / integer)HTuple (double / Hlong)HTuple (double / int / long)Sequence[Union[float, int]]Htuple (double / Hlong)
Y component of the direction vector of the
transformed line.
TransLineDirectionZtransLineDirectionZtrans_line_direction_z (output_control) point3d.z(-array) → (real / integer)HTuple (double / Hlong)HTuple (double / int / long)Sequence[Union[float, int]]Htuple (double / Hlong)
Z component of the direction vector of the
transformed line.
TransLineMomentOrPointXtransLineMomentOrPointXtrans_line_moment_or_point_x (output_control) point3d.x(-array) → (real / integer)HTuple (double / Hlong)HTuple (double / int / long)Sequence[Union[float, int]]Htuple (double / Hlong)
X component of the moment vector or a point on the
transformed line.
TransLineMomentOrPointYtransLineMomentOrPointYtrans_line_moment_or_point_y (output_control) point3d.y(-array) → (real / integer)HTuple (double / Hlong)HTuple (double / int / long)Sequence[Union[float, int]]Htuple (double / Hlong)
Y component of the moment vector or a point on the
transformed line.
TransLineMomentOrPointZtransLineMomentOrPointZtrans_line_moment_or_point_z (output_control) point3d.z(-array) → (real / integer)HTuple (double / Hlong)HTuple (double / int / long)Sequence[Union[float, int]]Htuple (double / Hlong)
Z component of the moment vector or a point on the
transformed line.
Combinations with other operators
Combinations
Possible predecessors
points_to_pluecker_linePointsToPlueckerLine, point_direction_to_pluecker_linePointDirectionToPlueckerLine
Possible successors
dual_quat_composeDualQuatCompose, dual_quat_conjugateDualQuatConjugate, pose_to_dual_quatPoseToDualQuat
Alternatives
affine_trans_point_3dAffineTransPoint3d, dual_quat_trans_point_3dDualQuatTransPoint3d
See also
dual_quat_to_hom_mat3dDualQuatToHomMat3d, dual_quat_to_screwDualQuatToScrew, dual_quat_to_poseDualQuatToPose, dual_quat_normalizeDualQuatNormalize, serialize_dual_quatSerializeDualQuat, deserialize_dual_quatDeserializeDualQuat, quat_rotate_point_3dQuatRotatePoint3d
Module
Foundation