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18 Feb 2014 Dual quaternion toolbox This toolbox provides dual quaternion methods, focusing on 3D kinematics for points and lines. Author: Guillaume Leclercq Hanfucius

Thanks for your splendid reply~
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.
Thanks again for your reply!

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13 Feb 2014 Dual quaternion toolbox This toolbox provides dual quaternion methods, focusing on 3D kinematics for points and lines. Author: Guillaume Leclercq Hanfucius

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. Author: Guillaume Leclercq Hanfucius

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. Author: Guillaume Leclercq Hanfucius

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));
But the answer is different.

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05 Sep 2013 Toolbox kinematics This toolbox deals with basic concepts in kinematics and special interpolation algorithms. Author: Daniel Klawitter Hanfucius

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. Author: Guillaume Leclercq Hanfucius

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

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02 Sep 2013 Dual quaternion toolbox This toolbox provides dual quaternion methods, focusing on 3D kinematics for points and lines. Author: Guillaume Leclercq Hanfucius

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

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