Re: [eigen] Eigen and rigid body simulation

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Have you looked at using dual quaternion's to implement rigid
transformations. I have the code for them ready and they have the
advantage of providing stable, and smooth interpolation of rigid

Both dual quaternion and Lie group formalism can provide smooth and stable interpolation of rigid transform. Since dual quaternion rely on Clifford algebras, interpolation can be expressed in a simpler way (interpolation in vector fields). However, rigid transform are described by the Lie group SE(3) and using a class representing this group may be more natural. Moreover, it may be simpler to have a kinematic or dynamic formulation of a mecanism system using Lie group formalism rather than using dual quaternions.


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