/// <summary>Convert a 3D pose to a unit dual quaternion.</summary>
/// <param name="pose">3D pose.</param>
/// <returns>Unit dual quaternion.</returns>
public static HDualQuaternion[] PoseToDualQuat(HPose[] pose)
{
HTuple htuple = HData.ConcatArray((HData[])pose);
IntPtr proc = HalconAPI.PreCall(2080);
HalconAPI.Store(proc, 0, htuple);
HalconAPI.InitOCT(proc, 0);
int err = HalconAPI.CallProcedure(proc);
HalconAPI.UnpinTuple(htuple);
HTuple tuple;
int procResult = HTuple.LoadNew(proc, 0, err, out tuple);
HalconAPI.PostCall(proc, procResult);
return(HDualQuaternion.SplitArray(tuple));
}
/// <summary>Multiply two dual quaternions.</summary>
/// <param name="dualQuaternionLeft">Left dual quaternion.</param>
/// <param name="dualQuaternionRight">Right dual quaternion.</param>
/// <returns>Product of the dual quaternions.</returns>
public static HDualQuaternion[] DualQuatCompose(
HDualQuaternion[] dualQuaternionLeft,
HDualQuaternion[] dualQuaternionRight)
{
HTuple htuple1 = HData.ConcatArray((HData[])dualQuaternionLeft);
HTuple htuple2 = HData.ConcatArray((HData[])dualQuaternionRight);
IntPtr proc = HalconAPI.PreCall(2059);
HalconAPI.Store(proc, 0, htuple1);
HalconAPI.Store(proc, 1, htuple2);
HalconAPI.InitOCT(proc, 0);
int err = HalconAPI.CallProcedure(proc);
HalconAPI.UnpinTuple(htuple1);
HalconAPI.UnpinTuple(htuple2);
HTuple tuple;
int procResult = HTuple.LoadNew(proc, 0, err, out tuple);
HalconAPI.PostCall(proc, procResult);
return(HDualQuaternion.SplitArray(tuple));
}
/// <summary>
/// Interpolate two dual quaternions.
/// Instance represents: Dual quaternion as the start point of the interpolation.
/// </summary>
/// <param name="dualQuaternionEnd">Dual quaternion as the end point of the interpolation.</param>
/// <param name="interpPos">Interpolation parameter. Default: 0.5</param>
/// <returns>Interpolated dual quaternion.</returns>
public HDualQuaternion[] DualQuatInterpolate(
HDualQuaternion dualQuaternionEnd,
HTuple interpPos)
{
IntPtr proc = HalconAPI.PreCall(2061);
this.Store(proc, 0);
HalconAPI.Store(proc, 1, (HData)dualQuaternionEnd);
HalconAPI.Store(proc, 2, interpPos);
HalconAPI.InitOCT(proc, 0);
int err = HalconAPI.CallProcedure(proc);
this.UnpinTuple();
HalconAPI.UnpinTuple((HTuple)((HData)dualQuaternionEnd));
HalconAPI.UnpinTuple(interpPos);
HTuple tuple;
int procResult = HTuple.LoadNew(proc, 0, err, out tuple);
HalconAPI.PostCall(proc, procResult);
HDualQuaternion[] hdualQuaternionArray = HDualQuaternion.SplitArray(tuple);
GC.KeepAlive((object)this);
return(hdualQuaternionArray);
}
