Re: [eigen] Re: Rigid transformations in eigen: use of dual quaternions |

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*To*: eigen@xxxxxxxxxxxxxxxxxxx*Subject*: Re: [eigen] Re: Rigid transformations in eigen: use of dual quaternions*From*: Rohit Garg <rpg.314@xxxxxxxxx>*Date*: Sat, 12 Sep 2009 20:49:10 +0530*Dkim-signature*: v=1; a=rsa-sha256; c=relaxed/relaxed; d=gmail.com; s=gamma; h=domainkey-signature:mime-version:received:in-reply-to:references :date:message-id:subject:from:to:content-type; bh=jPnnaTF2hw9Svdb/dSg+1Uc/LGIWep8iqP0vMPzho1g=; b=xtWSqorO5nHtS0yYXbVrGXKqeEZxaRtNIT8qyde4TXsCuZkvG4oaVUA0rwmI3HXlq6 gk9Z/QBlM2goRe7gdKiqALLL8mYrYmty3O4XwBDnY1+0/GBwPvk07MRkIltTL5zSKn7b isij7cC4JHbnzcjSg8cEUEMTWJLwrq8gOGht4=*Domainkey-signature*: a=rsa-sha1; c=nofws; d=gmail.com; s=gamma; h=mime-version:in-reply-to:references:date:message-id:subject:from:to :content-type; b=a7DYjuA/BJfE2U5tryh6zzENVpv1//uGO7045Bw4YPqzxK4bY6Nclcnb122aPf7PTT T4U3WBxEZV/fLlrPHv+9565p8p6cMOp8i4qL9BHhFtJP4bFgiLqKIdGgsjW9Ly9HeolC a5VrRANUcWKUJKwbmUeTAxiUQsfp0Z5HTLtyQ=

> OK so we have several options here. > > The easiest is to add a method interpolate(q1,q2,s1,s2) to Quaternion, > returning a Quaternion. > It could even take care of normalizing the result (i guess you want that too?) > > Would that be enough for you? I need quaternion multiplication with a scalar as well. And with this function, it'd be a kludge. > Otherwise, if we need expression templates in Quaternion, well I think > I remember the big issue now: Quaternion already inherits > RotationBase, so it would mean multiple inheritance if it also > inherited MatrixBase. I didn't think more, so I don't know where to go > from here. How about making a brand new rigid transform class, you get all the expression templates, size is fixed at compile time, so auto vectorization. It could take as inputs the existing rotationXY, translate, angleaxis classes as arguments and convert them to it;s internal representation. -- Rohit Garg http://rpg-314.blogspot.com/ Senior Undergraduate Department of Physics Indian Institute of Technology Bombay

**References**:**[eigen] Rigid transformations in eigen: use of dual quaternions***From:*Rohit Garg

**[eigen] Re: Rigid transformations in eigen: use of dual quaternions***From:*Rohit Garg

**Re: [eigen] Re: Rigid transformations in eigen: use of dual quaternions***From:*Benoit Jacob

**Re: [eigen] Re: Rigid transformations in eigen: use of dual quaternions***From:*Rohit Garg

**Re: [eigen] Re: Rigid transformations in eigen: use of dual quaternions***From:*Benoit Jacob

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