dual_quat_trans_point_3dDualQuatTransPoint3dDualQuatTransPoint3ddual_quat_trans_point_3dT_dual_quat_trans_point_3d🔗

Short description🔗

dual_quat_trans_point_3dDualQuatTransPoint3dDualQuatTransPoint3ddual_quat_trans_point_3dT_dual_quat_trans_point_3d — Transform a 3D point with a unit dual quaternion.

Signature🔗

dual_quat_trans_point_3d( dual_quaternion DualQuaternion, point3d.x Px, point3d.y Py, point3d.z Pz, out point3d.x Tx, out point3d.y Ty, out point3d.z Tz )

Description🔗

The operator dual_quat_trans_point_3dDualQuatTransPoint3d transforms a 3D point \((\textrm{Px}, \textrm{Py}, \textrm{Pz})\) by a 3D rigid transformation that is given by the unit dual quaternion DualQuaterniondualQuaterniondual_quaternion and returns the transformed 3D point in \((\textrm{Tx}, \textrm{Ty}, \textrm{Tz})\).

For a brief introduction to dual quaternions, see ``Solution Guide III-C - 3D Vision''.

Attention🔗

dual_quat_trans_point_3dDualQuatTransPoint3d returns meaningful results only if DualQuaterniondualQuaterniondual_quaternion is a unit dual quaternion.

Execution information🔗

Execution information

Multithreading type: reentrant (runs in parallel with non-exclusive operators).
Multithreading scope: global (may be called from any thread).
Automatically parallelized on internal data level.

Parameters🔗

DualQuaterniondualQuaterniondual_quaternion (input_control) dual_quaternion → (real / integer)HTuple (double / Hlong)Sequence[Union[float, int]]Htuple (double / Hlong)

Unit dual quaternion representing the transformation.

Pxpxpx (input_control) point3d.x(-array) → (real / integer)HTuple (double / Hlong)HTuple (double / int / long)MaybeSequence[Union[float, int]]Htuple (double / Hlong)

Input point(s) (x coordinate).

Default: 6464
Suggested values: 0, 16, 32, 64, 128, 256, 512, 10240, 16, 32, 64, 128, 256, 512, 1024

Pypypy (input_control) point3d.y(-array) → (real / integer)HTuple (double / Hlong)HTuple (double / int / long)MaybeSequence[Union[float, int]]Htuple (double / Hlong)

Input point(s) (y coordinate).

Default: 6464
Suggested values: 0, 16, 32, 64, 128, 256, 512, 10240, 16, 32, 64, 128, 256, 512, 1024

Pzpzpz (input_control) point3d.z(-array) → (real / integer)HTuple (double / Hlong)HTuple (double / int / long)MaybeSequence[Union[float, int]]Htuple (double / Hlong)

Input point(s) (z coordinate).

Default: 6464
Suggested values: 0, 16, 32, 64, 128, 256, 512, 10240, 16, 32, 64, 128, 256, 512, 1024

Txtxtx (output_control) point3d.x(-array) → (real)HTuple (double)HTuple (double)Sequence[float]Htuple (double)

Output point(s) (x coordinate).

Tytyty (output_control) point3d.y(-array) → (real)HTuple (double)HTuple (double)Sequence[float]Htuple (double)

Output point(s) (y coordinate).

Tztztz (output_control) point3d.z(-array) → (real)HTuple (double)HTuple (double)Sequence[float]Htuple (double)

Output point(s) (z coordinate).

Example🔗

(HDevelop)


* dual_quat_trans_point_3d (DualQuat, Px, Py, Pz, Tx, Ty, Tz)
* is equivalent to the following code:
dual_quat_to_hom_mat3d (DualQuat, HomMat3D)
affine_trans_point_3d (HomMat3D, Px, Py, Pz, Tx, Ty, Tz)

Combinations with other operators🔗

Combinations

Possible predecessors

dual_quat_composeDualQuatCompose, pose_to_dual_quatPoseToDualQuat, screw_to_dual_quatScrewToDualQuat

Alternatives

dual_quat_to_hom_mat3dDualQuatToHomMat3d, affine_trans_point_3dAffineTransPoint3d

Module🔗

Foundation