Struct nalgebra::geometry::DualQuaternion

#[repr(C)]
pub struct DualQuaternion<N: SimdRealField> {
    pub real: Quaternion<N>,
    pub dual: Quaternion<N>,
}

A dual quaternion.

Indexing

DualQuaternions are stored as [..real, ..dual]. Both of the quaternion components are laid out in i, j, k, w order.

let real = Quaternion::new(1.0, 2.0, 3.0, 4.0);
let dual = Quaternion::new(5.0, 6.0, 7.0, 8.0);

let dq = DualQuaternion::from_real_and_dual(real, dual);
assert_eq!(dq[0], 2.0);
assert_eq!(dq[1], 3.0);

assert_eq!(dq[4], 6.0);
assert_eq!(dq[7], 5.0);

NOTE: As of December 2020, dual quaternion support is a work in progress. If a feature that you need is missing, feel free to open an issue or a PR. See https://github.com/dimforge/nalgebra/issues/487

Fields

real: Quaternion<N>

The real component of the quaternion

dual: Quaternion<N>

The dual component of the quaternion

Implementations

impl<N: SimdRealField> DualQuaternion<N> where
    N::Element: SimdRealField, 

#[must_use = "Did you mean to use normalize_mut()?"]

pub fn normalize(&self) -> Self

Normalizes this quaternion.

Example

let real = Quaternion::new(1.0, 2.0, 3.0, 4.0);
let dual = Quaternion::new(5.0, 6.0, 7.0, 8.0);
let dq = DualQuaternion::from_real_and_dual(real, dual);

let dq_normalized = dq.normalize();

relative_eq!(dq_normalized.real.norm(), 1.0);

pub fn normalize_mut(&mut self)

Normalizes this quaternion.

Example

let real = Quaternion::new(1.0, 2.0, 3.0, 4.0);
let dual = Quaternion::new(5.0, 6.0, 7.0, 8.0);
let mut dq = DualQuaternion::from_real_and_dual(real, dual);

dq.normalize_mut();

relative_eq!(dq.real.norm(), 1.0);

impl<N: SimdRealField> DualQuaternion<N>

pub fn from_real_and_dual(real: Quaternion<N>, dual: Quaternion<N>) -> Self

Creates a dual quaternion from its rotation and translation components.

Example

let rot = Quaternion::new(1.0, 2.0, 3.0, 4.0);
let trans = Quaternion::new(5.0, 6.0, 7.0, 8.0);

let dq = DualQuaternion::from_real_and_dual(rot, trans);
assert_eq!(dq.real.w, 1.0);

pub fn identity() -> Self

The dual quaternion multiplicative identity

Example

let dq1 = DualQuaternion::identity();
let dq2 = DualQuaternion::from_real_and_dual(
    Quaternion::new(1.,2.,3.,4.),
    Quaternion::new(5.,6.,7.,8.)
);

assert_eq!(dq1 * dq2, dq2);
assert_eq!(dq2 * dq1, dq2);

Trait Implementations

impl<N: SimdRealField> Add<DualQuaternion<N>> for DualQuaternion<N> where
    N::Element: SimdRealField, 

type Output = DualQuaternion<N>

The resulting type after applying the + operator.

fn add(self, rhs: DualQuaternion<N>) -> Self::Output

Performs the + operation.

impl<N: SimdRealField> AsMut<[N; 8]> for DualQuaternion<N>

fn as_mut(&mut self) -> &mut [N; 8]

Performs the conversion.

impl<N: SimdRealField> AsRef<[N; 8]> for DualQuaternion<N>

fn as_ref(&self) -> &[N; 8]

Performs the conversion.

impl<N: Clone + SimdRealField> Clone for DualQuaternion<N>

fn clone(&self) -> DualQuaternion<N>

Returns a copy of the value.

pub fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl<N: Debug + SimdRealField> Debug for DualQuaternion<N>

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl<N: Default + SimdRealField> Default for DualQuaternion<N>

fn default() -> DualQuaternion<N>

Returns the “default value” for a type.

impl<'a, N: SimdRealField> Deserialize<'a> for DualQuaternion<N> where
    N: Deserialize<'a>, 

fn deserialize<Des>(deserializer: Des) -> Result<Self, Des::Error> where
    Des: Deserializer<'a>, 

Deserialize this value from the given Serde deserializer.

impl<N: SimdRealField> Index<usize> for DualQuaternion<N>

type Output = N

The returned type after indexing.

fn index(&self, i: usize) -> &Self::Output

Performs the indexing (container[index]) operation.

impl<N: SimdRealField> IndexMut<usize> for DualQuaternion<N>

fn index_mut(&mut self, i: usize) -> &mut N

Performs the mutable indexing (container[index]) operation.

impl<N: SimdRealField> Mul<DualQuaternion<N>> for DualQuaternion<N> where
    N::Element: SimdRealField, 

type Output = DualQuaternion<N>

The resulting type after applying the * operator.

fn mul(self, rhs: Self) -> Self::Output

Performs the * operation.

impl<N: SimdRealField> Mul<N> for DualQuaternion<N> where
    N::Element: SimdRealField, 

type Output = DualQuaternion<N>

The resulting type after applying the * operator.

fn mul(self, rhs: N) -> Self::Output

Performs the * operation.

impl<N: PartialEq + SimdRealField> PartialEq<DualQuaternion<N>> for DualQuaternion<N>

fn eq(&self, other: &DualQuaternion<N>) -> bool

This method tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &DualQuaternion<N>) -> bool

This method tests for !=.

impl<N: SimdRealField> Serialize for DualQuaternion<N> where
    N: Serialize, 

fn serialize<S>(
    &self,
    serializer: S
) -> Result<<S as Serializer>::Ok, <S as Serializer>::Error> where
    S: Serializer, 

Serialize this value into the given Serde serializer.

impl<N: SimdRealField> Sub<DualQuaternion<N>> for DualQuaternion<N> where
    N::Element: SimdRealField, 

type Output = DualQuaternion<N>

The resulting type after applying the - operator.

fn sub(self, rhs: DualQuaternion<N>) -> Self::Output

Performs the - operation.

impl<N: Copy + SimdRealField> Copy for DualQuaternion<N>

impl<N: Eq + SimdRealField> Eq for DualQuaternion<N>

impl<N: SimdRealField> StructuralEq for DualQuaternion<N>

impl<N: SimdRealField> StructuralPartialEq for DualQuaternion<N>