Re: [eigen] Eigen and rigid body simulation

[Mathieu Gautier <mathieu.gautier@xxxxxx>]

Hi,

> 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
> transformations.

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.

--
Mathieu