DualQuaternionToolbox

代码说明：

  The toolbox provides functions to: - 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