dq

Possibly most complete and correct implementation of dual quaternions in Rust.

Implementation of dual quaternions uses nalgebra and is heavily inspired by dual_num.

Notes

• With pow, you can do
• you can do ln().exp() but exp().ln() doens't work due to nilpotence (you lose information).
• With dual numbers, you can't use powers >=2.0 as that loses information. (???)

Resources

https://github.com/potan/dual.rs/blob/master/src/lib.rs

https://blog.demofox.org/2014/12/30/dual-numbers-automatic-differentiation/

https://idontgetoutmuch.wordpress.com/2013/10/13/backpropogation-is-just-steepest-descent-with-automatic-differentiation-2/

https://github.com/hoechp/ultracomplexmath/blob/954c19190e/src/util/hypercomplex/Dual.java

https://github.com/dpd3788/quatlib/blob/7b42455542edbc3b62df3ee20eb8c465d81f6ac0/cpp/include/quaternion.h

TODO

• conjugates

• homogenous matrix conversion

• why doesn't a.pow(4.0).pow(1.0/4.0) == a? should it

Done

• randomization
• fixed trigonometry
• pow -> slerp