Description 
The toolbox provides functions to (see the related journal article: http://www.frontiersin.org/Behavioral_Neuroscience/10.3389/fnbeh.2013.00007/abstract) :
 encode dual quaternions: a point position, velocity, a line position, velocity, a rotation, a translation, a screw,...
 do operations on dual quaternions: the dual quaternion multiplication, the dual quaternion conjugates, the inverse,...
 retrieve parameters from a dual quaternion: finding the parameters of a rotation dual quaternion, or a screw dual quaternion,...
 easily going back and forth between Fick rotation coordinates, 3*3 rotation matrices, rotation dual quaternions, angular vector
 find the shortest rotation between two unitary vectors
 find the shortest screw motion between two lines (it answers if two lines intersect, and if relevant, what the intersection point is)
The toolbox also provides one example file (example_forward_kinematics.m) (see also the file "html/example_forward_kinematics.html"). This
example describes the forward kinematics of the endeffector of a two or threelink arm in 3D space. The user can choose between two methods
(alternating rotation and translation dual quaternions, or using screw motion dual quaternions) to encode the forward kinematics: the results are
identical, whatever the method which is used. Furthermore, for the threelink arm, the orientation of the endeffector is also taken into account
(via line transformations).
For each of these methods and example, the user will find an extensive documentation by typing HELP NAME_OF_THE_FUNCTION in the MATLAB environment
