Dual quaternion: Difference between revisions
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<math>\Vert \mathbf{q} \Vert = \mathbf{q}\mathbf{q}^*</math> | <math>\Vert \mathbf{q} \Vert = \mathbf{q}\mathbf{q}^*</math> | ||
==Rotations and Translations== | |||
A translation is represented as: | A translation is represented as: | ||
<math>\mathbf{q}_t = [1,0,0,0][0, \frac{t_x}{2}, \frac{t_y}{2}, \frac{t_z}{2}] = 1 + \frac{\epsilon}{2}\mathbf{t}</math> | <math>\mathbf{q}_t = [1,0,0,0][0, \frac{t_x}{2}, \frac{t_y}{2}, \frac{t_z}{2}] = 1 + \frac{\epsilon}{2}\mathbf{t}</math> | ||