Robotics Dual Quaternion Toolbox
Version 1.6 (76.5 KB) by
Thomas Watts
This toolbox provides useful functions for creating and manipulating dual quaternions.
What are dual quaternions?
Dual quaternions are a convenient way of describing rigid body transformations (specifically unit dual quaternions, which are the focus of this toolbox). They carry the same information as other descriptions of pose, such as the commonly used homogeneous transformation matrix. However, they are more computationally efficient, and have some neat mathematical properties.
What does this library contain?
This library contains a set of simple, elementary functions for manipulating dual quaternions:
- Transforming from rotation and translation quaternions, homogeneous matrices or angle-axis screw parameters
- Plotting on 3D axis
- Mutliplying, raising to power, normalising, conjugate, scalar part
- Calculating log and exponential maps (useful in kinematics)
- Combining using Screw Linear Interpolation (ScLerp), Dual Iterative Blending (DIB) and Dual Linear Blending (DLB) from https://users.cs.utah.edu/~ladislav/kavan06dual/kavan06dual.pdf
- Converting to and from twistor representation (https://arc.aiaa.org/doi/pdf/10.2514/1.G001522)
Requests
If you have any requests or recommendations for additional functions, please leave a comment or start a discussion.
Acknowledgement
If you use this toolbox for a project, please use the citation below.
Cite As
Thomas Watts (2024). Robotics Dual Quaternion Toolbox (https://www.mathworks.com/matlabcentral/fileexchange/71397-robotics-dual-quaternion-toolbox), MATLAB Central File Exchange. Retrieved .
MATLAB Release Compatibility
Created with
R2020a
Compatible with any release
Platform Compatibility
Windows macOS LinuxCategories
- Robotics and Autonomous Systems > Robotics System Toolbox > Coordinate Transformations >
- Engineering > Electrical and Computer Engineering > Robotics >
Find more on Coordinate Transformations in Help Center and MATLAB Answers
Tags
Acknowledgements
Inspired by: Rigid motions and robotics toolbox, Dual quaternion toolbox
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Version | Published | Release Notes | |
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1.6 | Update paper link |
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1.5 | Minor update to text |
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1.4 | Updated image |
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1.3 | Updated image |
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1.2 | Added getting started guide |
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1.1 | Added description section |
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1.0 |
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