Dual quaternion toolbox

版本 1.3.0.0 (216.7 KB) 作者: Guillaume Leclercq
This toolbox provides dual quaternion methods, focusing on 3D kinematics for points and lines.
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更新时间 2014/3/26

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The toolbox provides functions to (see the related journal article: http://www.frontiersin.org/Behavioral_Neuroscience/10.3389/fnbeh.2013.00007/abstract) :
- encode dual quaternions: a point position, velocity, a line position, velocity, a rotation, a translation, a screw,...
- do operations on dual quaternions: the dual quaternion multiplication, the dual quaternion conjugates, the inverse,...
- retrieve parameters from a dual quaternion: finding the parameters of a rotation dual quaternion, or a screw dual quaternion,...
- easily going back and forth between Fick rotation coordinates, 3*3 rotation matrices, rotation dual quaternions, angular vector
- find the shortest rotation between two unitary vectors
- find the shortest screw motion between two lines (it answers if two lines intersect, and if relevant, what the intersection point is)
The toolbox also provides one example file (example_forward_kinematics.m) (see also the file "html/example_forward_kinematics.html"). This
example describes the forward kinematics of the end-effector of a two- or three-link arm in 3D space. The user can choose between two methods
(alternating rotation and translation dual quaternions, or using screw motion dual quaternions) to encode the forward kinematics: the results are
identical, whatever the method which is used. Furthermore, for the three-link arm, the orientation of the end-effector is also taken into account
(via line transformations).

For each of these methods and example, the user will find an extensive documentation by typing HELP NAME_OF_THE_FUNCTION in the MATLAB environment

引用格式

Guillaume Leclercq (2025). Dual quaternion toolbox (https://ww2.mathworks.cn/matlabcentral/fileexchange/39288-dual-quaternion-toolbox), MATLAB Central File Exchange. 检索时间: .

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Dual quaternion toolbox v3/

Dual quaternion toolbox v3/private/

Dual quaternion toolbox v3/html/

版本 已发布 发行说明
1.3.0.0

function rotMatrix2dquat updated, such that it deals with 180 deg rotations and implements the method described in https://www.researchgate.net/publication/3298038_On_homogeneous_transforms_quaternions_and_computationalefficiency

1.2.0.0

I modified the following files:
- dquat2line
- dquat2linevel
- dquat2screw
- rotMatrix2fick
such that these functions return an error if the wrong number of output arguments is specified by the user.
1.1.0.0

I provided the link (in the description) towards the journal publication linked to these methods.
1.0.0.0