#include <dualQuatd.h>

Public Types
typedef double	ScalarType

Public Member Functions
	GfDualQuatd ()
	The default constructor leaves the dual quaternion undefined. More...

	GfDualQuatd (double realVal)

	GfDualQuatd (const GfQuatd &real)

	GfDualQuatd (const GfQuatd &real, const GfQuatd &dual)
	This constructor initializes the real and dual parts. More...

	GfDualQuatd (const GfQuatd &rotation, const GfVec3d &translation)
	This constructor initializes from a rotation and a translation components. More...

GF_API	GfDualQuatd (const GfDualQuatf &other)
	Implicitly convert from GfDualQuatf. More...

GF_API	GfDualQuatd (const GfDualQuath &other)
	Implicitly convert from GfDualQuath. More...

void	SetReal (const GfQuatd &real)
	Sets the real part of the dual quaternion. More...

void	SetDual (const GfQuatd &dual)
	Sets the dual part of the dual quaternion. More...

const GfQuatd &	GetReal () const
	Returns the real part of the dual quaternion. More...

const GfQuatd &	GetDual () const
	Returns the dual part of the dual quaternion. More...

GF_API std::pair< double, double >	GetLength () const
	Returns geometric length of this dual quaternion. More...

GF_API GfDualQuatd	GetNormalized (double eps=GF_MIN_VECTOR_LENGTH) const

GF_API std::pair< double, double >	Normalize (double eps=GF_MIN_VECTOR_LENGTH)

GF_API GfDualQuatd	GetConjugate () const
	Returns the conjugate of this dual quaternion. More...

GF_API GfDualQuatd	GetInverse () const
	Returns the inverse of this dual quaternion. More...

GF_API void	SetTranslation (const GfVec3d &translation)
	Set the translation component of this dual quaternion. More...

GF_API GfVec3d	GetTranslation () const
	Get the translation component of this dual quaternion. More...

bool	operator== (const GfDualQuatd &dq) const

bool	operator!= (const GfDualQuatd &dq) const

GfDualQuatd &	operator+= (const GfDualQuatd &dq)
	Component-wise unary sum operator. More...

GfDualQuatd &	operator-= (const GfDualQuatd &dq)
	Component-wise unary difference operator. More...

GF_API GfDualQuatd &	operator*= (const GfDualQuatd &dq)
	Post-multiplies dual quaternion `dq` into this dual quaternion. More...

GfDualQuatd &	operator*= (double s)
	Scales this dual quaternion by `s`. More...

GfDualQuatd &	operator/= (double s)
	Scales this dual quaternion by 1 / `s`. More...

GF_API GfVec3d	Transform (const GfVec3d &vec) const
	Transforms the row vector vec by the dual quaternion. More...

Static Public Member Functions
static GfDualQuatd	GetZero ()

static GfDualQuatd	GetIdentity ()

Friends
size_t	hash_value (const GfDualQuatd &dq)
	Hash. More...

GfDualQuatd	operator+ (const GfDualQuatd &dq1, const GfDualQuatd &dq2)
	Component-wise binary sum operator. More...

GfDualQuatd	operator- (const GfDualQuatd &dq1, const GfDualQuatd &dq2)
	Component-wise binary difference operator. More...

GfDualQuatd	operator* (const GfDualQuatd &dq1, const GfDualQuatd &dq2)
	Returns the product of dual quaternions `dq1` and `dq2`. More...

GfDualQuatd	operator* (const GfDualQuatd &dq, double s)
	Returns the product of dual quaternion `dq` and scalar `s`. More...

GfDualQuatd	operator* (double s, const GfDualQuatd &dq)
	Returns the product of dual quaternion `dq` and scalar `s`. More...

GfDualQuatd	operator/ (const GfDualQuatd &dq, double s)
	Returns the product of dual quaternion `dq` and scalar 1 / `s`. More...

Detailed Description

Basic type: a real part quaternion and a dual part quaternion.

This class represents a generalized dual quaternion that has a real part and a dual part quaternions. Dual quaternions are used to represent a combination of rotation and translation.

References: https://www.cs.utah.edu/~ladislav/kavan06dual/kavan06dual.pdf https://faculty.sites.iastate.edu/jia/files/inline-files/dual-quaternion.pdf

Definition at line 49 of file dualQuatd.h.

Member Typedef Documentation

typedef double GfDualQuatd::ScalarType

Definition at line 52 of file dualQuatd.h.

Constructor & Destructor Documentation

GfDualQuatd::GfDualQuatd ( )

inline

The default constructor leaves the dual quaternion undefined.

Definition at line 55 of file dualQuatd.h.

GfDualQuatd::GfDualQuatd ( double realVal )

inlineexplicit

Initialize the real part to realVal and the imaginary part to zero quaternion.

Since quaternions typically must be normalized, reasonable values for realVal are -1, 0, or 1. Other values are legal but are likely to be meaningless.

Definition at line 64 of file dualQuatd.h.

GfDualQuatd::GfDualQuatd ( const GfQuatd & real )

inlineexplicit

Initialize the real part to real quaternion and the imaginary part to zero quaternion.

Definition at line 69 of file dualQuatd.h.

GfDualQuatd::GfDualQuatd	(	const GfQuatd &	real,
		const GfQuatd &	dual
	)

inline

This constructor initializes the real and dual parts.

Definition at line 74 of file dualQuatd.h.

GfDualQuatd::GfDualQuatd	(	const GfQuatd &	rotation,
		const GfVec3d &	translation
	)

inline

This constructor initializes from a rotation and a translation components.

Definition at line 79 of file dualQuatd.h.

GF_API GfDualQuatd::GfDualQuatd ( const GfDualQuatf & other )

Implicitly convert from GfDualQuatf.

GF_API GfDualQuatd::GfDualQuatd ( const GfDualQuath & other )

Implicitly convert from GfDualQuath.

Member Function Documentation

GF_API GfDualQuatd GfDualQuatd::GetConjugate ( ) const

Returns the conjugate of this dual quaternion.

const GfQuatd& GfDualQuatd::GetDual ( ) const

inline

Returns the dual part of the dual quaternion.

Definition at line 107 of file dualQuatd.h.

static GfDualQuatd GfDualQuatd::GetIdentity ( )

inlinestatic

Returns the identity dual quaternion, which has a real part of (1,0,0,0) and a dual part of (0,0,0,0).

Definition at line 119 of file dualQuatd.h.

GF_API GfDualQuatd GfDualQuatd::GetInverse ( ) const

Returns the inverse of this dual quaternion.

GF_API std::pair<double, double> GfDualQuatd::GetLength ( ) const

Returns geometric length of this dual quaternion.

GF_API GfDualQuatd GfDualQuatd::GetNormalized ( double eps = GF_MIN_VECTOR_LENGTH ) const

Returns a normalized (unit-length) version of this dual quaternion. If the length of this dual quaternion is smaller than eps, this returns the identity dual quaternion.

const GfQuatd& GfDualQuatd::GetReal ( ) const

inline

Returns the real part of the dual quaternion.

Definition at line 102 of file dualQuatd.h.

GF_API GfVec3d GfDualQuatd::GetTranslation ( ) const

Get the translation component of this dual quaternion.

static GfDualQuatd GfDualQuatd::GetZero ( )

inlinestatic

Returns the zero dual quaternion, which has a real part of (0,0,0,0) and a dual part of (0,0,0,0).

Definition at line 113 of file dualQuatd.h.

GF_API std::pair<double, double> GfDualQuatd::Normalize ( double eps = GF_MIN_VECTOR_LENGTH )

Normalizes this dual quaternion in place. Normalizes this dual quaternion in place to unit length, returning the length before normalization. If the length of this dual quaternion is smaller than eps, this sets the dual quaternion to identity.

bool GfDualQuatd::operator!= ( const GfDualQuatd & dq ) const

inline

Component-wise dual quaternion inequality test. The real and dual parts must match exactly for dual quaternions to be considered equal.

Definition at line 170 of file dualQuatd.h.

GF_API GfDualQuatd& GfDualQuatd::operator*= ( const GfDualQuatd & dq )

Post-multiplies dual quaternion dq into this dual quaternion.

GfDualQuatd& GfDualQuatd::operator*= ( double s )

inline

Scales this dual quaternion by s.

Definition at line 193 of file dualQuatd.h.

GfDualQuatd& GfDualQuatd::operator+= ( const GfDualQuatd & dq )

inline

Component-wise unary sum operator.

Definition at line 175 of file dualQuatd.h.

GfDualQuatd& GfDualQuatd::operator-= ( const GfDualQuatd & dq )

inline

Component-wise unary difference operator.

Definition at line 182 of file dualQuatd.h.

GfDualQuatd& GfDualQuatd::operator/= ( double s )

inline

Scales this dual quaternion by 1 / s.

Definition at line 200 of file dualQuatd.h.

bool GfDualQuatd::operator== ( const GfDualQuatd & dq ) const

inline

Component-wise dual quaternion equality test. The real and dual parts must match exactly for dual quaternions to be considered equal.

Definition at line 163 of file dualQuatd.h.

void GfDualQuatd::SetDual ( const GfQuatd & dual )

inline

Sets the dual part of the dual quaternion.

Definition at line 97 of file dualQuatd.h.

void GfDualQuatd::SetReal ( const GfQuatd & real )

inline

Sets the real part of the dual quaternion.

Definition at line 92 of file dualQuatd.h.

GF_API void GfDualQuatd::SetTranslation ( const GfVec3d & translation )

Set the translation component of this dual quaternion.

GF_API GfVec3d GfDualQuatd::Transform ( const GfVec3d & vec ) const

Transforms the row vector vec by the dual quaternion.

Friends And Related Function Documentation

size_t hash_value ( const GfDualQuatd & dq )

friend

Hash.

Definition at line 157 of file dualQuatd.h.

GfDualQuatd operator*	(	const GfDualQuatd &	dq1,
		const GfDualQuatd &	dq2
	)

friend

Returns the product of dual quaternions dq1 and dq2.

Definition at line 219 of file dualQuatd.h.

GfDualQuatd operator*	(	const GfDualQuatd &	dq,
		double	s
	)

friend

Returns the product of dual quaternion dq and scalar s.

Definition at line 226 of file dualQuatd.h.

GfDualQuatd operator*	(	double	s,
		const GfDualQuatd &	dq
	)

friend

Returns the product of dual quaternion dq and scalar s.

Definition at line 232 of file dualQuatd.h.

GfDualQuatd operator+	(	const GfDualQuatd &	dq1,
		const GfDualQuatd &	dq2
	)

friend

Component-wise binary sum operator.

Definition at line 205 of file dualQuatd.h.

GfDualQuatd operator-	(	const GfDualQuatd &	dq1,
		const GfDualQuatd &	dq2
	)

friend

Component-wise binary difference operator.

Definition at line 212 of file dualQuatd.h.

GfDualQuatd operator/	(	const GfDualQuatd &	dq,
		double	s
	)

friend

Returns the product of dual quaternion dq and scalar 1 / s.

Definition at line 238 of file dualQuatd.h.

The documentation for this class was generated from the following file:

pxr/base/gf/dualQuatd.h

Public Types

Public Member Functions

Static Public Member Functions

Friends

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation