amino
1.0beta2
Lightweight Robot Utility Library

A dual quaternion object. More...
#include <spatial.hpp>
Public Member Functions  
DualQuat ()  
Construct an identity dual quaternion.  
DualQuat (const double *S)  
Construct from another dual quaternion.  
DualQuat (const struct aa_tf_duqu *S)  
Construct from another dual quaternion.  
DualQuat (const struct aa_tf_duqu &S)  
Construct from another dual quaternion.  
DualQuat (const struct aa_tf_qv *S)  
Construct from a quaternionvector.  
DualQuat (const struct aa_tf_qv &S)  
Construct from a quaternionvector.  
DualQuat (const struct aa_tf_quat *r, const struct aa_tf_vec3 *v)  
Construct from a quaternionvector.  
DualQuat (const struct aa_tf_quat &r, const struct aa_tf_vec3 &v)  
Construct from a quaternionvector.  
DualQuat (const struct aa_tf_tfmat *T)  
Construct from a transformation matrix.  
DualQuat (const struct aa_tf_tfmat &T)  
Construct from a transformation matrix.  
DualQuat (const XAngle &r, const struct aa_tf_vec3 &v)  
Construct from a rotation about X and a translation vector.  
DualQuat (const YAngle &r, const struct aa_tf_vec3 &v)  
Construct from a rotation about Y and a translation vector.  
DualQuat (const ZAngle &r, const struct aa_tf_vec3 &v)  
Construct from a rotation about Z and a translation vector.  
DualQuat (const struct aa_tf_vec3 &v)  
Construct from an identity rotation and a translation vector.  
DualQuat (const aa_tf_axang &r, const struct aa_tf_vec3 &v)  
Construct from an axisangle rotation and a translation vector.  
DualQuat  conj () 
Return the conjugate of this.  
aa_tf_vec3  translation () 
Return the translation part of a unit dual quaternion.  
Static Public Member Functions  
static aa_tf_duqu  from_xyzw (double x_real, double y_real, double z_real, double w_real, double x_dual, double y_dual, double z_dual, double w_dual) 
Create a dual quaternion from components.  
static aa_tf_duqu  from_duqu (const double s[8]) 
Create a dual quaternion from another dual quaternion.  
static aa_tf_duqu  from_qv (const double q[4], const double v[3]) 
Create a dual quaternion from a rotation quaternion and a translation vector.  
static aa_tf_duqu  from_tfmat (const double T[12]) 
Create a dual quaternion from a transformation matrix.  
static aa_tf_duqu  from_xxyz (double theta, double x, double y, double z) 
Create a dual quaternion an X axis rotation and translation components.  
static aa_tf_duqu  from_yxyz (double theta, double x, double y, double z) 
Create a dual quaternion an Y axis rotation and translation components.  
static aa_tf_duqu  from_zxyz (double theta, double x, double y, double z) 
Create a dual quaternion an Z axis rotation and translation components.  
static aa_tf_duqu  from_xyz (double x, double y, double z) 
Create a dual quaternion from and identity rotation and translation components.  
static aa_tf_duqu  from_dx (double *s, double *dx) 
Create a dual quaternion derivative from a dual quaternion and the spatial velocity.  
Additional Inherited Members  
Public Attributes inherited from aa_tf_duqu  
union {  
struct {  
aa_tf_quat_t real  
real part  
aa_tf_quat_t dual  
dual part  
}  
double data [8]  
data array  
};  
A dual quaternion object.
Definition at line 624 of file spatial.hpp.