Struct dual_quaternion

Defined in File dual_quaternion.h

Struct Documentation

struct dual_quaternion

Public Functions

inline dual_quaternion(double v = 1.0)

inline dual_quaternion &normalize()

inline point3d get_translation()

inline void to_vector(double *p)

inline dual_quaternion &operator+=(const dual_quaternion &a)

inline dual_quaternion &operator*=(double a)

inline dual_quaternion &log()

inline dual_quaternion &exp()

Public Members

quaternion<double> R

quaternion<double> tR_2

Public Static Functions

static inline dual_quaternion rigid_transformation(const quaternion<double> &r, const point3d &t)

static inline dual_quaternion convert(const double *p)

Public Static Attributes

static constexpr double dq_epsilon = 1e-8