/// <summary>
/// Normalize a dual quaternion.
/// Instance represents: Unit dual quaternion.
/// </summary>
/// <returns>Normalized dual quaternion.</returns>
public HDualQuaternion DualQuatNormalize()
{
IntPtr proc = HalconAPI.PreCall(2062);
this.Store(proc, 0);
HalconAPI.InitOCT(proc, 0);
int err = HalconAPI.CallProcedure(proc);
this.UnpinTuple();
HDualQuaternion hdualQuaternion;
int procResult = HDualQuaternion.LoadNew(proc, 0, err, out hdualQuaternion);
HalconAPI.PostCall(proc, procResult);
GC.KeepAlive((object)this);
return(hdualQuaternion);
}
/// <summary>
/// Multiply two dual quaternions.
/// Instance represents: Left dual quaternion.
/// </summary>
/// <param name="dualQuaternionRight">Right dual quaternion.</param>
/// <returns>Product of the dual quaternions.</returns>
public HDualQuaternion DualQuatCompose(HDualQuaternion dualQuaternionRight)
{
IntPtr proc = HalconAPI.PreCall(2059);
this.Store(proc, 0);
HalconAPI.Store(proc, 1, (HData)dualQuaternionRight);
HalconAPI.InitOCT(proc, 0);
int err = HalconAPI.CallProcedure(proc);
this.UnpinTuple();
HalconAPI.UnpinTuple((HTuple)((HData)dualQuaternionRight));
HDualQuaternion hdualQuaternion;
int procResult = HDualQuaternion.LoadNew(proc, 0, err, out hdualQuaternion);
HalconAPI.PostCall(proc, procResult);
GC.KeepAlive((object)this);
return(hdualQuaternion);
}
/// <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,
double interpPos)
{
IntPtr proc = HalconAPI.PreCall(2061);
this.Store(proc, 0);
HalconAPI.Store(proc, 1, (HData)dualQuaternionEnd);
HalconAPI.StoreD(proc, 2, interpPos);
HalconAPI.InitOCT(proc, 0);
int err = HalconAPI.CallProcedure(proc);
this.UnpinTuple();
HalconAPI.UnpinTuple((HTuple)((HData)dualQuaternionEnd));
HDualQuaternion hdualQuaternion;
int procResult = HDualQuaternion.LoadNew(proc, 0, err, out hdualQuaternion);
HalconAPI.PostCall(proc, procResult);
GC.KeepAlive((object)this);
return(hdualQuaternion);
}
internal static int LoadNew(IntPtr proc, int parIndex, int err, out HDualQuaternion obj)
{
return(HDualQuaternion.LoadNew(proc, parIndex, HTupleType.MIXED, err, out obj));
}