screw_to_dual_quatT_screw_to_dual_quatScrewToDualQuatScrewToDualQuatscrew_to_dual_quat (算子)

名称

screw_to_dual_quatT_screw_to_dual_quatScrewToDualQuatScrewToDualQuatscrew_to_dual_quat — 将螺旋转换为对偶四元数。

签名

描述

算子 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.

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

可能的后继

dual_quat_composedual_quat_composeDualQuatComposeDualQuatComposeDualQuatComposedual_quat_compose, dual_quat_conjugatedual_quat_conjugateDualQuatConjugateDualQuatConjugateDualQuatConjugatedual_quat_conjugate, dual_quat_interpolatedual_quat_interpolateDualQuatInterpolateDualQuatInterpolateDualQuatInterpolatedual_quat_interpolate

替代

pose_to_dual_quatpose_to_dual_quatPoseToDualQuatPoseToDualQuatPoseToDualQuatpose_to_dual_quat

另见

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

基础

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