dual_quat_normalizeT_dual_quat_normalizeDualQuatNormalizeDualQuatNormalizedual_quat_normalize (算子)

名称

dual_quat_normalizeT_dual_quat_normalizeDualQuatNormalizeDualQuatNormalizedual_quat_normalize — 归一化对偶四元数。

签名

描述

算子 dual_quat_normalizedual_quat_normalizeDualQuatNormalizeDualQuatNormalizeDualQuatNormalizedual_quat_normalize normalizes the input dual quaternion DualQuaternionDualQuaternionDualQuaternionDualQuaterniondualQuaterniondual_quaternion and returns the normalized dual quaternion, which is also called a unit dual quaternion, in DualQuaternionNormalizedDualQuaternionNormalizedDualQuaternionNormalizedDualQuaternionNormalizeddualQuaternionNormalizeddual_quaternion_normalized。

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”.

The norm of a unit dual quaternion is 1, i.e., . This is equivalent to the following two conditions: where represents the conjugate quaternion of (see quat_conjugatequat_conjugateQuatConjugateQuatConjugateQuatConjugatequat_conjugate).

A 3D rigid transformation can be represented by a unit dual quaternion.

注意

If the norm of the real part of DualQuaternionDualQuaternionDualQuaternionDualQuaterniondualQuaterniondual_quaternion is 0, dual_quat_normalizedual_quat_normalizeDualQuatNormalizeDualQuatNormalizeDualQuatNormalizedual_quat_normalize returns the error code 9310 (H_ERR_DQ_ZERO_NORM) because in this case no normalization is possible.

执行信息

• 多线程类型：可重入（与非独占算子并行运行）。
• 多线程作用域：全局（可从任何线程调用）。
• 未采用并行化处理。

参数

可能的前趋

dual_quat_composedual_quat_composeDualQuatComposeDualQuatComposeDualQuatComposedual_quat_compose

可能的后继

dual_quat_to_hom_mat3ddual_quat_to_hom_mat3dDualQuatToHomMat3dDualQuatToHomMat3dDualQuatToHomMat3ddual_quat_to_hom_mat3d

另见

dual_quat_interpolatedual_quat_interpolateDualQuatInterpolateDualQuatInterpolateDualQuatInterpolatedual_quat_interpolate, pose_to_dual_quatpose_to_dual_quatPoseToDualQuatPoseToDualQuatPoseToDualQuatpose_to_dual_quat, screw_to_dual_quatscrew_to_dual_quatScrewToDualQuatScrewToDualQuatScrewToDualQuatscrew_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_conjugatedual_quat_conjugateDualQuatConjugateDualQuatConjugateDualQuatConjugatedual_quat_conjugate, 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, quat_normalizequat_normalizeQuatNormalizeQuatNormalizeQuatNormalizequat_normalize

模块

基础