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 )

	DualQuaternionT (const DualQuaternion &_other)
	Copy constructor.

DualQuaternion &	operator= (const DualQuaternion &_other)

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

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

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

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

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

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

DualQuaternion	conjugate () const
	conjugate dual quaternion

DualQuaternion	invert () const
	invert dual quaternion

void	normalize ()
	normalize dual quaternion

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

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

DualQuaternion	operator+ (const DualQuaternion &_other) const
	addition

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

DualQuaternion	operator- (const DualQuaternion &_other) const
	substraction

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

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

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

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

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

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

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

void	printInfo ()
	print some info about the DQ

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

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

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

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

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 ( ) const

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 ( ) const

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_