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Robotics Dual Quaternion Toolbox

version 1.5 (76.5 KB) by Thomas Watts
This toolbox provides useful functions for creating and manipulating dual quaternions.


Updated 16 Jan 2022

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What are dual quaternions?
Dual quaternions are a convenient way of describing rigid body transformations (specifically unit dual quaternions, which are the focus of this toolbox). They carry the same information as other descriptions of pose, such as the commonly used homogeneous transformation matrix. However, they are more computationally efficient, and have some neat mathematical properties.
What does this library contain?
This library contains a set of simple, elementary functions for manipulating dual quaternions:
If you have any requests or recommendations for additional functions, please leave a comment or start a discussion.
If you use this toolbox for a project, please use the citation below.

Cite As

Thomas Watts (2022). Robotics Dual Quaternion Toolbox (, MATLAB Central File Exchange. Retrieved .

MATLAB Release Compatibility
Created with R2020a
Compatible with any release
Platform Compatibility
Windows macOS Linux

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