def T2DualQuaternion(cls, T): # RealPart = Quaternion.T2Quaternion(T) RealPart = Quaternion.T2Quaternion2(T) t = T[0:3, 3] tQ = Quaternion.Pose2Quaternion(t) ImagePart = 0.5 * Quaternion.QuaternionProduct(tQ, RealPart) return (RealPart, ImagePart)
def Line2DualQuaternion(cls, lineVector, point): lineQuaternion = Quaternion.Pose2Quaternion(lineVector) pointQuaternion = Quaternion.Pose2Quaternion(point) return (lineQuaternion, pointQuaternion)