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Class template for dual quaternions using Eigen.

License: Creative Commons Zero v1.0 Universal

CMake 8.20% C 0.27% C++ 91.53%
cpp11 dual-quaternion class-template header-only eigen

dualquat's Introduction

Build Status

dualquat


About

  • Class template for dual quaternions using Eigen.

  • Header-only.

Compatibility

Supports C++ 11 or higher.

Compiler Version Remarks
gcc 5.5.0 or higher.
clang 7.0.0 or higher.
msvc 16.5.4 or higher.

Older versions of compilers might work as well but they are not tested.

usage

#include <dualquat/dualquat.h>

int main()
{
    using value_type = double;
    using Quat = Eigen::Quaternion<value_type>;
    using Vec3 = Quat::Vector3;
    using AngleAxis = Quat::AngleAxisType;
    using DualQuat = dualquat::DualQuaternion<value_type>;

    Quat r = AngleAxis(
        std::acos(-1.0),
        Vec3(1.0, 0.0, 0.0)
    );
    auto t = Vec3(1.0, 2.0, 3.0);

    auto src = Vec3(0.0, 0.0, 0.0);
    auto dst = transform(dualquat::transformation(r, t), src);

    return 0;
}

References

License

This software is released under the CC0 License, see LICENSE.

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