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)
