screw_to_dual_quatT_screw_to_dual_quatScrewToDualQuatScrewToDualQuatscrew_to_dual_quat (算子名称)

名称

screw_to_dual_quatT_screw_to_dual_quatScrewToDualQuatScrewToDualQuatscrew_to_dual_quat — Convert a screw into a dual quaternion.

参数签名

描述

The operator screw_to_dual_quatscrew_to_dual_quatScrewToDualQuatScrewToDualQuatScrewToDualQuatscrew_to_dual_quat converts the screw parameters to the unit dual quaternion DualQuaternionDualQuaternionDualQuaternionDualQuaterniondualQuaterniondual_quaternion, which represents a 3D rigid transformation.

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”.

A screw is described by the direction of the screw axis with , the moment of the screw axis with , the screw angle , and the screw translation .

If ScrewFormatScrewFormatScrewFormatScrewFormatscrewFormatscrew_format is set to 'moment'"moment""moment""moment""moment""moment", these parameters can be passed in the corresponding parameters AxisDirectionXAxisDirectionXAxisDirectionXAxisDirectionXaxisDirectionXaxis_direction_x, AxisDirectionYAxisDirectionYAxisDirectionYAxisDirectionYaxisDirectionYaxis_direction_y, AxisDirectionZAxisDirectionZAxisDirectionZAxisDirectionZaxisDirectionZaxis_direction_z, AxisMomentOrPointXAxisMomentOrPointXAxisMomentOrPointXAxisMomentOrPointXaxisMomentOrPointXaxis_moment_or_point_x, AxisMomentOrPointYAxisMomentOrPointYAxisMomentOrPointYAxisMomentOrPointYaxisMomentOrPointYaxis_moment_or_point_y, AxisMomentOrPointZAxisMomentOrPointZAxisMomentOrPointZAxisMomentOrPointZaxisMomentOrPointZaxis_moment_or_point_z, RotationRotationRotationRotationrotationrotation, and TranslationTranslationTranslationTranslationtranslationtranslation.

For convenience reasons, it is also possible to specify an arbitrary point on the screw axis instead of the moment of the screw axis. For this, ScrewFormatScrewFormatScrewFormatScrewFormatscrewFormatscrew_format must be set to 'point'"point""point""point""point""point" and the coordinates of the points must be passed in AxisMomentOrPointXAxisMomentOrPointXAxisMomentOrPointXAxisMomentOrPointXaxisMomentOrPointXaxis_moment_or_point_x, AxisMomentOrPointYAxisMomentOrPointYAxisMomentOrPointYAxisMomentOrPointYaxisMomentOrPointYaxis_moment_or_point_y, and AxisMomentOrPointZAxisMomentOrPointZAxisMomentOrPointZAxisMomentOrPointZaxisMomentOrPointZaxis_moment_or_point_z.

注意

screw_to_dual_quatscrew_to_dual_quatScrewToDualQuatScrewToDualQuatScrewToDualQuatscrew_to_dual_quat assumes that the direction vector of the screw axis has length 1, i.e., . Otherwise the returned dual quaternion is not meaningful.

运行信息

• Multithreading type: reentrant (runs in parallel with non-exclusive operators).
• Multithreading scope: global (may be called from any thread).
• Processed without parallelization.

参数表

可能的后置算子

dual_quat_composedual_quat_composeDualQuatComposeDualQuatComposeDualQuatComposedual_quat_compose, dual_quat_conjugatedual_quat_conjugateDualQuatConjugateDualQuatConjugateDualQuatConjugatedual_quat_conjugate, dual_quat_interpolatedual_quat_interpolateDualQuatInterpolateDualQuatInterpolateDualQuatInterpolatedual_quat_interpolate

可替代算子

pose_to_dual_quatpose_to_dual_quatPoseToDualQuatPoseToDualQuatPoseToDualQuatpose_to_dual_quat

参考其它

dual_quat_to_hom_mat3ddual_quat_to_hom_mat3dDualQuatToHomMat3dDualQuatToHomMat3dDualQuatToHomMat3ddual_quat_to_hom_mat3d, pose_to_dual_quatpose_to_dual_quatPoseToDualQuatPoseToDualQuatPoseToDualQuatpose_to_dual_quat, dual_quat_to_screwdual_quat_to_screwDualQuatToScrewDualQuatToScrewDualQuatToScrewdual_quat_to_screw, dual_quat_to_posedual_quat_to_poseDualQuatToPoseDualQuatToPoseDualQuatToPosedual_quat_to_pose, dual_quat_normalizedual_quat_normalizeDualQuatNormalizeDualQuatNormalizeDualQuatNormalizedual_quat_normalize, serialize_dual_quatserialize_dual_quatSerializeDualQuatSerializeDualQuatSerializeDualQuatserialize_dual_quat, deserialize_dual_quatdeserialize_dual_quatDeserializeDualQuatDeserializeDualQuatDeserializeDualQuatdeserialize_dual_quat, dual_quat_trans_line_3ddual_quat_trans_line_3dDualQuatTransLine3dDualQuatTransLine3dDualQuatTransLine3ddual_quat_trans_line_3d, dual_quat_trans_point_3ddual_quat_trans_point_3dDualQuatTransPoint3dDualQuatTransPoint3dDualQuatTransPoint3ddual_quat_trans_point_3d, axis_angle_to_quataxis_angle_to_quatAxisAngleToQuatAxisAngleToQuatAxisAngleToQuataxis_angle_to_quat

模块

Foundation

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