def __init__(self, xyzw=[0., 0., 0., 1.], tvec=[0., 0., 0.]):
""" Initialize a RigidTransform with Quaternion and 3D Position """
self.real = Quaternion(xyzw)
self.dual = (Quaternion(xyzw=[tvec[0], tvec[1], tvec[2], 0.]) *
self.real) * 0.5
def __init__(self, xyzw=[0., 0., 0., 1.], tvec=[0., 0., 0.]):
""" Initialize a RigidTransform with Quaternion and 3D Position """
self.quat = Quaternion(xyzw)
self.tvec = np.float32(tvec)