Copyright 2010-2021 Edgar Simo-Serra
This program is free software: you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.
This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
You should have received a copy of the GNU General Public License along with this program. If not, see http://www.gnu.org/licenses/.
This is a library for using and manipulating dual quaternions. Dual quaternions are useful for describing rigid body movements using screw theory.
If you use this library please reference it.
To install type:
$ make installTo make documentation (recommended) type:
$ make docsDocs are located in the docs/ folder that will be created when you run make docs.
- Version 2.3, October 2021
- Fixed dq_cr_inv (patch by @thery, thanks!)
- Version 2.2, February 2013
- Fixed build on newest Ubuntu
- Added version command to Lua API
- Compatibility with Lua 5.2
- Version 2.1, April 2012
- Made it more clear license is LGPL
- Fixed bug in Lua handling of matrices
- Added defines for getting version
- Added dq_version, dq_ch_plane_point, dq_cr_plane
- Minor correctness fixes
- Version 2.0, April 2011
- Lua bindings
- Version 1.5, April 2011
- Install headers into /usr/include/dq by default instead of prefixing with dq_.
- Updated documentation
- Make docs now places final documentation in /
- Version 1.4, February 2011
- Fixed major issue in dual quaternion conjugation
- Added dq_op_extract
- Added mat3_solve
- Added vec3_sign
- Added vec3_distance
- Minor doxygen improvements
- Version 1.3, December 2010
- Cleaned up and documented the auxiliary function files so they can be used.
- Version 1.2, December 2010
- Added dq_op_sign to change sign of a dual quaternion.
- dq_ch_cmp and dq_ch_cmpV now take into account the fact it could be with a different sign.
- Version 1.1, November 2010
- Fixed dual quaternion multiplication
- Implemented more strict unit tests
- Misc fixes
- Version 1.0, November 2010
- Initial Revision
A big thanks to Alba Perez for having the patience to deal with my repetitive boring dual quaternion questions and for lending me her notes.