dualquat

---

About

• Class template for dual quaternions using Eigen.

• Header-only.

Compatibility

Supports C++ 11 or higher.

Compiler	Version	Remarks
gcc	5.5.0 or higher.
clang	7.0.0 or higher.
msvc	16.5.4 or higher.

Older versions of compilers might work as well but they are not tested.

usage

#include <dualquat/dualquat.h>

int main()
{
    using value_type = double;
    using Quat = Eigen::Quaternion<value_type>;
    using Vec3 = Quat::Vector3;
    using AngleAxis = Quat::AngleAxisType;
    using DualQuat = dualquat::DualQuaternion<value_type>;

    Quat r = AngleAxis(
        std::acos(-1.0),
        Vec3(1.0, 0.0, 0.0)
    );
    auto t = Vec3(1.0, 2.0, 3.0);

    auto src = Vec3(0.0, 0.0, 0.0);
    auto dst = transform(dualquat::transformation(r, t), src);

    return 0;
}

References

• Eigen
• Dual quaternion

License

This software is released under the CC0 License, see LICENSE.