I developed a package for using dual quaternions and conversions from and to ROS Pose and Transform messages in Python. Dual quaternions are an alternative to homogeneous transformation matrices that provide many benefits such as compactness, a direct relation to screw parameters, easy normalization, and an extension to quaternion SLERP for translations + rotations. They’re also mathematically pleasing . I’d love to hear if there’s interest in getting this released.
I’m working on releasing this package to
bloom. Since dual quaternions consist of two quaternions, the package relies on an underlying quaternion python package, which AFAICT doesn’t exist in
apt. I was using
numpy-quaternion at first but that package will be hard to release into
apt because of its dependencies. I am considering releasing pyquaternion (with some modifications) or a custom package. I wanted to hear from the community what they want to see in such a package or if another similar package is in the works. As it stands, I would be releasing 4 packages to keep the python code separated from the ROS code: