File Comment by Comment
18 Feb 2014 Dual quaternion toolbox This toolbox provides dual quaternion methods, focusing on 3D kinematics for points and lines. Hanfucius

### Hanfucius (view profile)

I did not get direct answer in your paper and thus got confused.
Surely I've read many geometric algebra books and I know that quaternion is isomorphic to G+3,0,0 and i,j,k is indeed another representation 2-blade bases of this geometric algebra. However,never did I paid attention to handedness of the coordinates.
Though we use the same mathematical tool,we use different mathematical conventions in your bio science and my robotics. I think this is the reason why gap happens.

Comment only
13 Feb 2014 Dual quaternion toolbox This toolbox provides dual quaternion methods, focusing on 3D kinematics for points and lines. Hanfucius

### Hanfucius (view profile)

I think you have made a mistake.
In function Qmult,line 49,I refered many books,

sv = repmat(r0,3,1).*qv+repmat(q0,3,1).*rv-cross(qv,rv);

should be

sv = repmat(r0,3,1).*qv+repmat(q0,3,1).*rv+cross(qv,rv);

5
21 Jan 2014 Dual quaternion toolbox This toolbox provides dual quaternion methods, focusing on 3D kinematics for points and lines. Hanfucius

### Hanfucius (view profile)

Sorry to have done such stupid things as modify your code and redistribute it. I have delete all of them.

5
06 Sep 2013 Dual quaternion toolbox This toolbox provides dual quaternion methods, focusing on 3D kinematics for points and lines. Hanfucius

### Hanfucius (view profile)

In kinematics example file, why the total transformation is multiplied in reverse order?
Also why DQconj comes first?
S_tot = DQmult(R_LU,T_ES,R_UB);
P_BS_dq = DQmult(DQconj(S_tot),P_LE_dq,S_tot);

I tried this :
S_tot = DQmult(R_UB,T_ES,R_LU);
P_BS_dq = DQmult(S_tot,P_LE_dq,DQconj(S_tot));

Comment only
05 Sep 2013 Toolbox kinematics This toolbox deals with basic concepts in kinematics and special interpolation algorithms. Hanfucius

### Hanfucius (view profile)

You've done a great work!

5
05 Sep 2013 Dual quaternion toolbox This toolbox provides dual quaternion methods, focusing on 3D kinematics for points and lines. Hanfucius

### Hanfucius (view profile)

Why function dquat2line loses a vector?

>> line2dquat([1 2 3],[4 5 6])

ans =

0
0.2673
0.5345
0.8018
0
0.8018
-1.6036
0.8018

>> dquat2line(ans)

ans =

0.2673
0.5345
0.8018

Comment only
02 Sep 2013 Dual quaternion toolbox This toolbox provides dual quaternion methods, focusing on 3D kinematics for points and lines. Hanfucius

### Hanfucius (view profile)

This is very useful and I use it a lot.
The question is, can this toolbox be used in the area of symbolic computing?

5