amino  1.0-beta2
Lightweight Robot Utility Library
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amino::DualQuat Struct Reference

A dual quaternion object. More...

#include <tf.hpp>

Inheritance diagram for amino::DualQuat:
aa_tf_duqu

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 quaternion-vector.
 
 DualQuat (const struct aa_tf_qv &S)
 Construct from a quaternion-vector.
 
 DualQuat (const struct aa_tf_quat *r, const struct aa_tf_vec3 *v)
 Construct from a quaternion-vector.
 
 DualQuat (const struct aa_tf_quat &r, const struct aa_tf_vec3 &v)
 Construct from a quaternion-vector.
 
 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 axis-angle 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
 
      aa_tf_quat_t   dual
 
   } 
 
   double   data [8]
 data array
 
}; 
 

Detailed Description

A dual quaternion object.

Definition at line 584 of file tf.hpp.


The documentation for this struct was generated from the following file: