amino::DualQuat Struct Reference

A dual quaternion object. More...

#include <spatial.hpp>

Inheritance diagram for amino::DualQuat:

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
	real part
aa_tf_quat_t   dual
	dual part
}
double   data [8]
	data array
};

Detailed Description

A dual quaternion object.

Definition at line 624 of file spatial.hpp.

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

• amino/tf/spatial.hpp