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*: Benoit Jacob <jacob.benoit.1@xxxxxxxxx>*Date*: Sat, 12 Sep 2009 10:59:53 -0400*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=orisXotXCT4A7RDp9towDdJZPVA3Y021fSEcgMYvqes=; b=E3wgFUKo3c7qqSf8cm+NS6qSnTW0kiLle6FOyM/P0KpRYPLsab5WCEHin5KZmRPhGg 5yn/gWbFG0uE17NDs0hKLt9SJOtL/aKuEbNYdYbjfc+67R7aqnbPc5yVuzwNhvHvvwwK EViTOWYFMbn+11W8dB5Fuusde3njxEUKkQEm0=*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=XxBYJr4+XkhVywCnWCgqi7rtAPBwgQ+KcWTHLu9/rPZHiUttgwF7k3WJjF8DK6ZVLg epJckBRsMAJVz4QgdlobLxQwb2WsU/Uej9Oo8iDdPgUAouIsZUOKaHaAjLBF47WKAwkr lboBe5xVgWDsD+GWFLX88GX8pZy1V8o6HFtHo=

2009/9/12 Rohit Garg <rpg.314@xxxxxxxxx>: >> But are you sure that what you're trying to do with s1*q1+s2*q2 isn't >> just the same as slerp() ? because it looks seriously reminiscent of >> it! > > The form is like that, but it is not slerp. That would have made my > job so much easier :| 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? 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. Benoit (will reply to other email later, have to go now) > > -- > Rohit Garg > > http://rpg-314.blogspot.com/ > > Senior Undergraduate > Department of Physics > Indian Institute of Technology > Bombay > > >

**Follow-Ups**:**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

**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

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