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Class template for dual quaternions using Eigen.
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Header-only.
Supports C++ 11 or higher.
| Compiler | Version | Remarks |
|---|---|---|
| gcc | 5.5.0 or higher. | |
| clang | 7.0.0 or higher. | |
| msvc | 16.5.4 or higher. |
Older versions of compilers might work as well but they are not tested.
#include <dualquat/dualquat.h>
int main()
{
using value_type = double;
using Quat = Eigen::Quaternion<value_type>;
using Vec3 = Quat::Vector3;
using AngleAxis = Quat::AngleAxisType;
using DualQuat = dualquat::DualQuaternion<value_type>;
Quat r = AngleAxis(
std::acos(-1.0),
Vec3(1.0, 0.0, 0.0)
);
auto t = Vec3(1.0, 2.0, 3.0);
auto src = Vec3(0.0, 0.0, 0.0);
auto dst = transform(dualquat::transformation(r, t), src);
return 0;
}This software is released under the CC0 License, see LICENSE.