DualQuaternion class for representing rigid motions in 3d. More...

#include <OpenFlipper/libs_required/ACG/Math/DualQuaternionT.hh>

Public Types
typedef QuaternionT< Scalar >	Quaternion

typedef DualQuaternionT< Scalar >	DualQuaternion

typedef VectorT< Scalar, 3 >	Vec3

typedef VectorT< Scalar, 4 >	Vec4

typedef Matrix4x4T< Scalar >	Matrix

Public Member Functions
	DualQuaternionT ()
	Default constructor ( constructs an identity dual quaternion ) More...

	DualQuaternionT (const DualQuaternion &_other)
	Copy constructor. More...

DualQuaternion &	operator= (const DualQuaternion &_other)

	DualQuaternionT (const Quaternion &_real, const Quaternion &_dual)
	Construct from given real,dual parts. More...

	DualQuaternionT (Scalar _Rw, Scalar _Rx, Scalar _Ry, Scalar _Rz, Scalar _Dw, Scalar _Dx, Scalar _Dy, Scalar _Dz)
	Construct from 8 scalars. More...

	DualQuaternionT (Quaternion _rotation)
	Construct from a rotation given as quaternion. More...

	DualQuaternionT (const Vec3 &_translation)
	Construct from a translatation given as a vector. More...

	DualQuaternionT (const Vec3 &_translation, const Quaternion &_rotation)
	Construct from a translation+rotation. More...

	DualQuaternionT (const Matrix &_transformation)
	Construct from a rigid transformation given as matrix. More...

DualQuaternion	conjugate () const
	conjugate dual quaternion More...

DualQuaternion	invert () const
	invert dual quaternion More...

void	normalize ()
	normalize dual quaternion More...

bool	operator== (const DualQuaternion &_other) const
	dual quaternion comparison More...

bool	operator!= (const DualQuaternion &_other) const
	dual quaternion comparison More...

DualQuaternion	operator+ (const DualQuaternion &_other) const
	addition More...

DualQuaternion &	operator+= (const DualQuaternion &_other)
	addition More...

DualQuaternion	operator- (const DualQuaternion &_other) const
	substraction More...

DualQuaternion &	operator-= (const DualQuaternion &_other)
	substraction More...

DualQuaternion	operator* (const DualQuaternion &_q) const
	dualQuaternion * dualQuaternion More...

DualQuaternion	operator* (const Scalar &_scalar) const
	dualQuaternion * scalar More...

DualQuaternion &	operator*= (const DualQuaternion &_q)
	dualQuaternion *= dualQuaternion More...

Scalar &	operator[] (const unsigned int &b)
	Access as one big vector. More...

Vec3	transform_point (const Vec3 &_point) const
	Transform a point with the dual quaternion. More...

Vec3	transform_vector (const Vec3 &_point) const
	Transform a vector with the dual quaternion. More...

void	printInfo ()
	print some info about the DQ More...

template<typename VectorType >
DualQuaternionT< Scalar >	interpolate (VectorType &_weights, const std::vector< DualQuaternion > &_dualQuaternions)
	linear interpolation of dual quaternions. Result is normalized afterwards. More...

Static Public Member Functions
static DualQuaternion	identity ()
	identity dual quaternion [ R(1, 0, 0, 0), D(0,0,0,0) ] More...

static DualQuaternion	zero ()
	zero dual quaternion [ R(0, 0, 0, 0), D(0,0,0,0) ] More...

template<typename VectorType >
static DualQuaternion	interpolate (VectorType &_weights, const std::vector< DualQuaternion > &_dualQuaternions)
	linear interpolation of dual quaternions. Result is normalized afterwards

Public Attributes
Quaternion	real_
	real and dual quaternion parts More...

Quaternion	dual_

Detailed Description

template<class Scalar>
class ACG::DualQuaternionT< Scalar >

DualQuaternion class for representing rigid motions in 3d.

This is an implementation of:

techreport{kavan-06-dual, author = "Ladislav Kavan and Steven Collins and Carol O'Sullivan and Jiri Zara", series = "Technical report TCD-CS-2006-46, Trinity College Dublin", title = "{D}ual {Q}uaternions for {R}igid {T}ransformation {B}lending", url = "http://www.cgg.cvut.cz/~kavanl1/", year = "2006" }

Definition at line 80 of file DualQuaternionT.hh.

Member Typedef Documentation

◆ DualQuaternion

template<class Scalar >

typedef DualQuaternionT<Scalar> ACG::DualQuaternionT< Scalar >::DualQuaternion

Definition at line 85 of file DualQuaternionT.hh.

◆ Matrix

template<class Scalar >

typedef Matrix4x4T<Scalar> ACG::DualQuaternionT< Scalar >::Matrix

Definition at line 88 of file DualQuaternionT.hh.

◆ Quaternion

template<class Scalar >

typedef QuaternionT<Scalar> ACG::DualQuaternionT< Scalar >::Quaternion

Definition at line 84 of file DualQuaternionT.hh.

◆ Vec3

template<class Scalar >

typedef VectorT<Scalar,3> ACG::DualQuaternionT< Scalar >::Vec3

Definition at line 86 of file DualQuaternionT.hh.

◆ Vec4

template<class Scalar >

typedef VectorT<Scalar,4> ACG::DualQuaternionT< Scalar >::Vec4

Definition at line 87 of file DualQuaternionT.hh.

Constructor & Destructor Documentation

◆ DualQuaternionT() [1/8]

template<typename Scalar >

ACG::DualQuaternionT< Scalar >::DualQuaternionT

Default constructor ( constructs an identity dual quaternion )

Definition at line 69 of file DualQuaternionT_impl.hh.

◆ DualQuaternionT() [2/8]

template<typename Scalar >

ACG::DualQuaternionT< Scalar >::DualQuaternionT ( const DualQuaternion & _other )

Copy constructor.

Definition at line 77 of file DualQuaternionT_impl.hh.

◆ DualQuaternionT() [3/8]

template<typename Scalar >

ACG::DualQuaternionT< Scalar >::DualQuaternionT	(	const Quaternion &	_real,
		const Quaternion &	_dual
	)

Construct from given real,dual parts.

Definition at line 93 of file DualQuaternionT_impl.hh.

◆ DualQuaternionT() [4/8]

template<typename Scalar >

ACG::DualQuaternionT< Scalar >::DualQuaternionT	(	Scalar	_Rw,
		Scalar	_Rx,
		Scalar	_Ry,
		Scalar	_Rz,
		Scalar	_Dw,
		Scalar	_Dx,
		Scalar	_Dy,
		Scalar	_Dz
	)

Construct from 8 scalars.

Definition at line 102 of file DualQuaternionT_impl.hh.

◆ DualQuaternionT() [5/8]

template<typename Scalar >

ACG::DualQuaternionT< Scalar >::DualQuaternionT ( Quaternion _rotation )

Construct from a rotation given as quaternion.

Definition at line 112 of file DualQuaternionT_impl.hh.

◆ DualQuaternionT() [6/8]

template<typename Scalar >

ACG::DualQuaternionT< Scalar >::DualQuaternionT ( const Vec3 & _translation )

Construct from a translatation given as a vector.

Definition at line 121 of file DualQuaternionT_impl.hh.

◆ DualQuaternionT() [7/8]

template<typename Scalar >

ACG::DualQuaternionT< Scalar >::DualQuaternionT	(	const Vec3 &	_translation,
		const Quaternion &	_rotation
	)

Construct from a translation+rotation.

Definition at line 130 of file DualQuaternionT_impl.hh.

◆ DualQuaternionT() [8/8]

template<typename Scalar >

ACG::DualQuaternionT< Scalar >::DualQuaternionT ( const Matrix & _transformation )

Construct from a rigid transformation given as matrix.

Definition at line 142 of file DualQuaternionT_impl.hh.

Member Function Documentation

◆ conjugate()

template<typename Scalar >

DualQuaternionT< Scalar > ACG::DualQuaternionT< Scalar >::conjugate

conjugate dual quaternion

Definition at line 179 of file DualQuaternionT_impl.hh.

◆ identity()

template<typename Scalar >

DualQuaternionT< Scalar > ACG::DualQuaternionT< Scalar >::identity

static

identity dual quaternion [ R(1, 0, 0, 0), D(0,0,0,0) ]

Definition at line 153 of file DualQuaternionT_impl.hh.

◆ interpolate()

template<class Scalar >

template<typename VectorType >

DualQuaternionT< Scalar > ACG::DualQuaternionT< Scalar >::interpolate	(	VectorType &	_weights,
		const std::vector< DualQuaternion > &	_dualQuaternions
	)

linear interpolation of dual quaternions. Result is normalized afterwards.

Definition at line 332 of file DualQuaternionT_impl.hh.

◆ invert()

template<typename Scalar >

DualQuaternionT< Scalar > ACG::DualQuaternionT< Scalar >::invert

invert dual quaternion

Definition at line 187 of file DualQuaternionT_impl.hh.

◆ normalize()

template<typename Scalar >

void ACG::DualQuaternionT< Scalar >::normalize

normalize dual quaternion

Definition at line 212 of file DualQuaternionT_impl.hh.

◆ operator!=()

template<typename Scalar >

bool ACG::DualQuaternionT< Scalar >::operator!= ( const DualQuaternion & _other ) const

dual quaternion comparison

Definition at line 238 of file DualQuaternionT_impl.hh.

◆ operator*() [1/2]

template<typename Scalar >

DualQuaternionT< Scalar > ACG::DualQuaternionT< Scalar >::operator* ( const DualQuaternion & _q ) const

dualQuaternion * dualQuaternion

Definition at line 284 of file DualQuaternionT_impl.hh.

◆ operator*() [2/2]

template<typename Scalar >

DualQuaternionT< Scalar > ACG::DualQuaternionT< Scalar >::operator* ( const Scalar & _scalar ) const

dualQuaternion * scalar

Definition at line 303 of file DualQuaternionT_impl.hh.

◆ operator*=()

template<typename Scalar >

DualQuaternionT< Scalar > & ACG::DualQuaternionT< Scalar >::operator*= ( const DualQuaternion & _q )

dualQuaternion *= dualQuaternion

Definition at line 292 of file DualQuaternionT_impl.hh.

◆ operator+()

template<typename Scalar >

DualQuaternionT< Scalar > ACG::DualQuaternionT< Scalar >::operator+ ( const DualQuaternion & _other ) const

addition

Definition at line 246 of file DualQuaternionT_impl.hh.

◆ operator+=()

template<typename Scalar >

DualQuaternionT< Scalar > & ACG::DualQuaternionT< Scalar >::operator+= ( const DualQuaternion & _other )

addition

Definition at line 254 of file DualQuaternionT_impl.hh.

◆ operator-()

template<typename Scalar >

DualQuaternionT< Scalar > ACG::DualQuaternionT< Scalar >::operator- ( const DualQuaternion & _other ) const

substraction

Definition at line 265 of file DualQuaternionT_impl.hh.

◆ operator-=()

template<typename Scalar >

DualQuaternionT< Scalar > & ACG::DualQuaternionT< Scalar >::operator-= ( const DualQuaternion & _other )

substraction

Definition at line 273 of file DualQuaternionT_impl.hh.

◆ operator=()

template<typename Scalar >

DualQuaternionT< Scalar > & ACG::DualQuaternionT< Scalar >::operator= ( const DualQuaternion & _other )

Definition at line 83 of file DualQuaternionT_impl.hh.

◆ operator==()

template<typename Scalar >

bool ACG::DualQuaternionT< Scalar >::operator== ( const DualQuaternion & _other ) const

dual quaternion comparison

Definition at line 230 of file DualQuaternionT_impl.hh.

◆ operator[]()

template<typename Scalar >

Scalar & ACG::DualQuaternionT< Scalar >::operator[] ( const unsigned int & b )

Access as one big vector.

Definition at line 315 of file DualQuaternionT_impl.hh.

◆ printInfo()

template<typename Scalar >

void ACG::DualQuaternionT< Scalar >::printInfo

print some info about the DQ

Definition at line 423 of file DualQuaternionT_impl.hh.

◆ transform_point()

template<typename Scalar >

VectorT< Scalar, 3 > ACG::DualQuaternionT< Scalar >::transform_point ( const Vec3 & _point ) const

Transform a point with the dual quaternion.

transform a given point with this dual quaternion

TODO check if this is a unit dual quaternion

Definition at line 373 of file DualQuaternionT_impl.hh.

◆ transform_vector()

template<typename Scalar >

VectorT< Scalar, 3 > ACG::DualQuaternionT< Scalar >::transform_vector ( const Vec3 & _point ) const

Transform a vector with the dual quaternion.

transform a given point with this dual quaternion

TODO check if this is a unit dual quaternion

Definition at line 402 of file DualQuaternionT_impl.hh.

◆ zero()

template<typename Scalar >

DualQuaternionT< Scalar > ACG::DualQuaternionT< Scalar >::zero

static

zero dual quaternion [ R(0, 0, 0, 0), D(0,0,0,0) ]

Definition at line 167 of file DualQuaternionT_impl.hh.

Member Data Documentation

◆ dual_

template<class Scalar >

Quaternion ACG::DualQuaternionT< Scalar >::dual_

Definition at line 92 of file DualQuaternionT.hh.

◆ real_

template<class Scalar >

Quaternion ACG::DualQuaternionT< Scalar >::real_

real and dual quaternion parts

Definition at line 91 of file DualQuaternionT.hh.

The documentation for this class was generated from the following files:

OpenFlipper/libs_required/ACG/Math/DualQuaternionT.hh
OpenFlipper/libs_required/ACG/Math/DualQuaternionT_impl.hh

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Member Typedef Documentation

◆ DualQuaternion

◆ Matrix

◆ Quaternion

◆ Vec3

◆ Vec4

Constructor & Destructor Documentation

◆ DualQuaternionT() [1/8]

◆ DualQuaternionT() [2/8]

◆ DualQuaternionT() [3/8]

◆ DualQuaternionT() [4/8]

◆ DualQuaternionT() [5/8]

◆ DualQuaternionT() [6/8]

◆ DualQuaternionT() [7/8]

◆ DualQuaternionT() [8/8]

Member Function Documentation

◆ conjugate()

◆ identity()

◆ interpolate()

◆ invert()

◆ normalize()

◆ operator!=()

◆ operator*() [1/2]

◆ operator*() [2/2]

◆ operator*=()

◆ operator+()

◆ operator+=()

◆ operator-()

◆ operator-=()

◆ operator=()

◆ operator==()

◆ operator[]()

◆ printInfo()

◆ transform_point()

◆ transform_vector()

◆ zero()

Member Data Documentation

◆ dual_

◆ real_