def TransLine(cls, lineDualQuaternion, dualQuaternion):
Lb = lineDualQuaternion[0]
Mb = lineDualQuaternion[1]
Q = dualQuaternion[0]
QImage = dualQuaternion[1]
QConj = Quaternion.QuaternionConj(Q)
t = 2 * Quaternion.QuaternionProduct(QImage, QConj)
tConj = Quaternion.QuaternionConj(t)
La = Quaternion.rotateByQuaternion(Q, Lb)
Ma = Quaternion.rotateByQuaternion(Q, Mb) \
+ 0.5*(Quaternion.QuaternionProduct(La, tConj) + Quaternion.QuaternionProduct(t, La))
return (La, Ma)
def CheckNormalized(cls, dualQuaternion):
Q = dualQuaternion[0]
QConj = Quaternion.QuaternionConj(Q)
QImage = dualQuaternion[1]
QImageConj = Quaternion.QuaternionConj(QImage)
RealPart = Quaternion.QuaternionProduct(Q, QConj)
ImagePart = Quaternion.QuaternionProduct(
Q, QImageConj) + Quaternion.QuaternionProduct(QImage, QConj)
if np.linalg.norm(RealPart) == 1 and -1.0e-10 < np.linalg.norm(
ImagePart) < 1.0e-10:
return True
else:
print 'RealPart:\n', RealPart
print 'ImagePart:\n', ImagePart
return False
