#include <dualQuath.h>

Public Types
typedef GfHalf	ScalarType

Public Member Functions
	GfDualQuath ()
	The default constructor leaves the dual quaternion undefined. More...

	GfDualQuath (GfHalf realVal)

	GfDualQuath (const GfQuath &real)

	GfDualQuath (const GfQuath &real, const GfQuath &dual)
	This constructor initializes the real and dual parts. More...

	GfDualQuath (const GfQuath &rotation, const GfVec3h &translation)
	This constructor initializes from a rotation and a translation components. More...

GF_API	GfDualQuath (const GfDualQuatd &other)
	Construct from GfDualQuatd. More...

GF_API	GfDualQuath (const GfDualQuatf &other)
	Construct from GfDualQuatf. More...

void	SetReal (const GfQuath &real)
	Sets the real part of the dual quaternion. More...

void	SetDual (const GfQuath &dual)
	Sets the dual part of the dual quaternion. More...

const GfQuath &	GetReal () const
	Returns the real part of the dual quaternion. More...

const GfQuath &	GetDual () const
	Returns the dual part of the dual quaternion. More...

GF_API std::pair< GfHalf, GfHalf >	GetLength () const
	Returns geometric length of this dual quaternion. More...

GF_API GfDualQuath	GetNormalized (GfHalf eps=GF_MIN_VECTOR_LENGTH) const

GF_API std::pair< GfHalf, GfHalf >	Normalize (GfHalf eps=GF_MIN_VECTOR_LENGTH)

GF_API GfDualQuath	GetConjugate () const
	Returns the conjugate of this dual quaternion. More...

GF_API GfDualQuath	GetInverse () const
	Returns the inverse of this dual quaternion. More...

GF_API void	SetTranslation (const GfVec3h &translation)
	Set the translation component of this dual quaternion. More...

GF_API GfVec3h	GetTranslation () const
	Get the translation component of this dual quaternion. More...

bool	operator== (const GfDualQuath &dq) const

bool	operator!= (const GfDualQuath &dq) const

GfDualQuath &	operator+= (const GfDualQuath &dq)
	Component-wise unary sum operator. More...

GfDualQuath &	operator-= (const GfDualQuath &dq)
	Component-wise unary difference operator. More...

GF_API GfDualQuath &	operator*= (const GfDualQuath &dq)
	Post-multiplies dual quaternion `dq` into this dual quaternion. More...

GfDualQuath &	operator*= (GfHalf s)
	Scales this dual quaternion by `s`. More...

GfDualQuath &	operator/= (GfHalf s)
	Scales this dual quaternion by 1 / `s`. More...

GF_API GfVec3h	Transform (const GfVec3h &vec) const
	Transforms the row vector vec by the dual quaternion. More...

Static Public Member Functions
static GfDualQuath	GetZero ()

static GfDualQuath	GetIdentity ()

Friends
size_t	hash_value (const GfDualQuath &dq)
	Hash. More...

GfDualQuath	operator+ (const GfDualQuath &dq1, const GfDualQuath &dq2)
	Component-wise binary sum operator. More...

GfDualQuath	operator- (const GfDualQuath &dq1, const GfDualQuath &dq2)
	Component-wise binary difference operator. More...

GfDualQuath	operator* (const GfDualQuath &dq1, const GfDualQuath &dq2)
	Returns the product of dual quaternions `dq1` and `dq2`. More...

GfDualQuath	operator* (const GfDualQuath &dq, GfHalf s)
	Returns the product of dual quaternion `dq` and scalar `s`. More...

GfDualQuath	operator* (GfHalf s, const GfDualQuath &dq)
	Returns the product of dual quaternion `dq` and scalar `s`. More...

GfDualQuath	operator/ (const GfDualQuath &dq, GfHalf s)
	Returns the product of dual quaternion `dq` and scalar 1 / `s`. More...

Detailed Description

Basic type: a real part quaternion and a dual part quaternion.

This class represents a generalized dual quaternion that has a real part and a dual part quaternions. Dual quaternions are used to represent a combination of rotation and translation.

References: https://www.cs.utah.edu/~ladislav/kavan06dual/kavan06dual.pdf http://web.cs.iastate.edu/~cs577/handouts/dual-quaternion.pdf

Definition at line 67 of file dualQuath.h.

Member Typedef Documentation

typedef GfHalf GfDualQuath::ScalarType

Definition at line 70 of file dualQuath.h.

Constructor & Destructor Documentation

GfDualQuath::GfDualQuath ( )

inline

The default constructor leaves the dual quaternion undefined.

Definition at line 73 of file dualQuath.h.

GfDualQuath::GfDualQuath ( GfHalf realVal )

inlineexplicit

Initialize the real part to realVal and the imaginary part to zero quaternion.

Since quaternions typically must be normalized, reasonable values for realVal are -1, 0, or 1. Other values are legal but are likely to be meaningless.

Definition at line 82 of file dualQuath.h.

GfDualQuath::GfDualQuath ( const GfQuath & real )

inlineexplicit

Initialize the real part to real quaternion and the imaginary part to zero quaternion.

Definition at line 87 of file dualQuath.h.

GfDualQuath::GfDualQuath	(	const GfQuath &	real,
		const GfQuath &	dual
	)

inline

This constructor initializes the real and dual parts.

Definition at line 92 of file dualQuath.h.

GfDualQuath::GfDualQuath	(	const GfQuath &	rotation,
		const GfVec3h &	translation
	)

inline

This constructor initializes from a rotation and a translation components.

Definition at line 97 of file dualQuath.h.

GF_API GfDualQuath::GfDualQuath ( const GfDualQuatd & other )

explicit

Construct from GfDualQuatd.

GF_API GfDualQuath::GfDualQuath ( const GfDualQuatf & other )

explicit

Construct from GfDualQuatf.

Member Function Documentation

GF_API GfDualQuath GfDualQuath::GetConjugate ( ) const

Returns the conjugate of this dual quaternion.

const GfQuath& GfDualQuath::GetDual ( ) const

inline

Returns the dual part of the dual quaternion.

Definition at line 125 of file dualQuath.h.

static GfDualQuath GfDualQuath::GetIdentity ( )

inlinestatic

Returns the identity dual quaternion, which has a real part of (1,0,0,0) and a dual part of (0,0,0,0).

Definition at line 137 of file dualQuath.h.

GF_API GfDualQuath GfDualQuath::GetInverse ( ) const

Returns the inverse of this dual quaternion.

GF_API std::pair<GfHalf, GfHalf> GfDualQuath::GetLength ( ) const

Returns geometric length of this dual quaternion.

GF_API GfDualQuath GfDualQuath::GetNormalized ( GfHalf eps = GF_MIN_VECTOR_LENGTH ) const

Returns a normalized (unit-length) version of this dual quaternion. If the length of this dual quaternion is smaller than eps, this returns the identity dual quaternion.

const GfQuath& GfDualQuath::GetReal ( ) const

inline

Returns the real part of the dual quaternion.

Definition at line 120 of file dualQuath.h.

GF_API GfVec3h GfDualQuath::GetTranslation ( ) const

Get the translation component of this dual quaternion.

static GfDualQuath GfDualQuath::GetZero ( )

inlinestatic

Returns the zero dual quaternion, which has a real part of (0,0,0,0) and a dual part of (0,0,0,0).

Definition at line 131 of file dualQuath.h.

GF_API std::pair<GfHalf, GfHalf> GfDualQuath::Normalize ( GfHalf eps = GF_MIN_VECTOR_LENGTH )

Normalizes this dual quaternion in place. Normalizes this dual quaternion in place to unit length, returning the length before normalization. If the length of this dual quaternion is smaller than eps, this sets the dual quaternion to identity.

bool GfDualQuath::operator!= ( const GfDualQuath & dq ) const

inline

Component-wise dual quaternion inequality test. The real and dual parts must match exactly for dual quaternions to be considered equal.

Definition at line 188 of file dualQuath.h.

GF_API GfDualQuath& GfDualQuath::operator*= ( const GfDualQuath & dq )

Post-multiplies dual quaternion dq into this dual quaternion.

GfDualQuath& GfDualQuath::operator*= ( GfHalf s )

inline

Scales this dual quaternion by s.

Definition at line 211 of file dualQuath.h.

GfDualQuath& GfDualQuath::operator+= ( const GfDualQuath & dq )

inline

Component-wise unary sum operator.

Definition at line 193 of file dualQuath.h.

GfDualQuath& GfDualQuath::operator-= ( const GfDualQuath & dq )

inline

Component-wise unary difference operator.

Definition at line 200 of file dualQuath.h.

GfDualQuath& GfDualQuath::operator/= ( GfHalf s )

inline

Scales this dual quaternion by 1 / s.

Definition at line 218 of file dualQuath.h.

bool GfDualQuath::operator== ( const GfDualQuath & dq ) const

inline

Component-wise dual quaternion equality test. The real and dual parts must match exactly for dual quaternions to be considered equal.

Definition at line 181 of file dualQuath.h.

void GfDualQuath::SetDual ( const GfQuath & dual )

inline

Sets the dual part of the dual quaternion.

Definition at line 115 of file dualQuath.h.

void GfDualQuath::SetReal ( const GfQuath & real )

inline

Sets the real part of the dual quaternion.

Definition at line 110 of file dualQuath.h.

GF_API void GfDualQuath::SetTranslation ( const GfVec3h & translation )

Set the translation component of this dual quaternion.

GF_API GfVec3h GfDualQuath::Transform ( const GfVec3h & vec ) const

Transforms the row vector vec by the dual quaternion.

Friends And Related Function Documentation

size_t hash_value ( const GfDualQuath & dq )

friend

Hash.

Definition at line 175 of file dualQuath.h.

GfDualQuath operator*	(	const GfDualQuath &	dq1,
		const GfDualQuath &	dq2
	)

friend

Returns the product of dual quaternions dq1 and dq2.

Definition at line 237 of file dualQuath.h.

GfDualQuath operator*	(	const GfDualQuath &	dq,
		GfHalf	s
	)

friend

Returns the product of dual quaternion dq and scalar s.

Definition at line 244 of file dualQuath.h.

GfDualQuath operator*	(	GfHalf	s,
		const GfDualQuath &	dq
	)

friend

Returns the product of dual quaternion dq and scalar s.

Definition at line 250 of file dualQuath.h.

GfDualQuath operator+	(	const GfDualQuath &	dq1,
		const GfDualQuath &	dq2
	)

friend

Component-wise binary sum operator.

Definition at line 223 of file dualQuath.h.

GfDualQuath operator-	(	const GfDualQuath &	dq1,
		const GfDualQuath &	dq2
	)

friend

Component-wise binary difference operator.

Definition at line 230 of file dualQuath.h.

GfDualQuath operator/	(	const GfDualQuath &	dq,
		GfHalf	s
	)

friend

Returns the product of dual quaternion dq and scalar 1 / s.

Definition at line 256 of file dualQuath.h.

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

pxr/base/gf/dualQuath.h

Public Types

Public Member Functions

Static Public Member Functions

Friends

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation