About the derivative from SE3 to dual quaternion: p_SE3_p_dq #7
Description
Thank you for you excellent work.
I carefully read the marital "Derivation of Jacobi Matrices of the optimization in Dynamic Fusion" you shared. I have difficulty to calculate the derivative from SE3 to dual quaternion. As p_SE3_p_dq in your note.
Can you explain the following questions for me to better understand the derivative calculation process? Thank you in advance!
- Why the derivative from SE3 to dual quaternion equals to the sum of the derivative from SE3 to each component of the dual quaternion? (As in your note)
- Is this following equation right? :
patial_T / patial_dq = \Sigma{patial_T / patial_dq(i)}