pose_to_dual_quatT_pose_to_dual_quatPoseToDualQuatPoseToDualQuatpose_to_dual_quat (算子)

名称

pose_to_dual_quatT_pose_to_dual_quatPoseToDualQuatPoseToDualQuatpose_to_dual_quat — 将三维姿态转换为单位双四元数。

签名

描述

算子 pose_to_dual_quatpose_to_dual_quatPoseToDualQuatPoseToDualQuatPoseToDualQuatpose_to_dual_quat converts the input PosePosePosePoseposepose into its corresponding unit dual quaternion DualQuaternionDualQuaternionDualQuaternionDualQuaterniondualQuaterniondual_quaternion。

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”.

Because and represent the same rigid transformation, the sign of the resulting dual quaternion DualQuaternionDualQuaternionDualQuaternionDualQuaterniondualQuaterniondual_quaternion is chosen such that the scalar part of the real part is 。

Multiple poses can be passed in PosePosePosePoseposepose, in which case a unit dual quaternion is returned for each of them.

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

create_posecreate_poseCreatePoseCreatePoseCreatePosecreate_pose, read_poseread_poseReadPoseReadPoseReadPoseread_pose

可能的后继

dual_quat_composedual_quat_composeDualQuatComposeDualQuatComposeDualQuatComposedual_quat_compose, dual_quat_interpolatedual_quat_interpolateDualQuatInterpolateDualQuatInterpolateDualQuatInterpolatedual_quat_interpolate, dual_quat_to_screwdual_quat_to_screwDualQuatToScrewDualQuatToScrewDualQuatToScrewdual_quat_to_screw, dual_quat_conjugatedual_quat_conjugateDualQuatConjugateDualQuatConjugateDualQuatConjugatedual_quat_conjugate

替代

pose_to_hom_mat3dpose_to_hom_mat3dPoseToHomMat3dPoseToHomMat3dPoseToHomMat3dpose_to_hom_mat3d, screw_to_dual_quatscrew_to_dual_quatScrewToDualQuatScrewToDualQuatScrewToDualQuatscrew_to_dual_quat

另见

dual_quat_to_hom_mat3ddual_quat_to_hom_mat3dDualQuatToHomMat3dDualQuatToHomMat3dDualQuatToHomMat3ddual_quat_to_hom_mat3d, 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, pose_to_quatpose_to_quatPoseToQuatPoseToQuatPoseToQuatpose_to_quat

模块

基础