Исправления в нормализации дуальных кватернионов и позиционирования с помощью дуальных кватернионов
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9 changed files with 206 additions and 170 deletions
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#ifndef _BGC_RIGID_POSE3_H_INCLUDED_
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#define _BGC_RIGID_POSE3_H_INCLUDED_
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#include <math.h>
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#include "types.h"
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#include "quaternion.h"
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// ================= Normalize ================== //
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void _bgc_fp32_rigid_pose3_normalize_parts(BGC_FP32_RigidPose3* pose, const float square_magnitude);
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void _bgc_fp64_rigid_pose3_normalize_parts(BGC_FP64_RigidPose3* pose, const double square_magnitude);
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inline void _bgc_fp32_rigid_pose3_normalize(BGC_FP32_RigidPose3* pose)
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{
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const float square_magnitude = bgc_fp32_quaternion_get_square_magnitude(&pose->_real_part);
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if (!bgc_fp32_is_square_unit(square_magnitude)) {
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_bgc_fp32_rigid_pose3_normalize_parts(pose, square_magnitude);
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}
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const float dot_product = bgc_fp32_quaternion_get_dot_product(&pose->_real_part, &pose->_dual_part);
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bgc_fp32_quaternion_subtract_scaled(&pose->_dual_part, &pose->_dual_part, &pose->_real_part, dot_product);
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}
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inline void _bgc_fp64_rigid_pose3_normalize(BGC_FP64_RigidPose3* pose)
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{
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const double square_magnitude = bgc_fp64_quaternion_get_square_magnitude(&pose->_real_part);
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if (!bgc_fp64_is_square_unit(square_magnitude)) {
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_bgc_fp64_rigid_pose3_normalize_parts(pose, square_magnitude);
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}
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const double dot_product = bgc_fp64_quaternion_get_dot_product(&pose->_real_part, &pose->_dual_part);
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bgc_fp64_quaternion_subtract_scaled(&pose->_dual_part, &pose->_dual_part, &pose->_real_part, dot_product);
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}
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#include "dual-quaternion.h"
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// ==================== Reset =================== //
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inline void bgc_fp32_rigid_pose3_reset(BGC_FP32_RigidPose3* pose)
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{
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pose->_real_part.s0 = 1.0f;
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pose->_real_part.x1 = 0.0f;
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pose->_real_part.x2 = 0.0f;
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pose->_real_part.x3 = 0.0f;
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pose->_versor.real_part.s0 = 1.0f;
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pose->_versor.real_part.x1 = 0.0f;
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pose->_versor.real_part.x2 = 0.0f;
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pose->_versor.real_part.x3 = 0.0f;
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pose->_dual_part.s0 = 0.0f;
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pose->_dual_part.x1 = 0.0f;
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pose->_dual_part.x2 = 0.0f;
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pose->_dual_part.x3 = 0.0f;
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pose->_versor.dual_part.s0 = 0.0f;
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pose->_versor.dual_part.x1 = 0.0f;
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pose->_versor.dual_part.x2 = 0.0f;
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pose->_versor.dual_part.x3 = 0.0f;
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}
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inline void bgc_fp64_rigid_pose3_reset(BGC_FP64_RigidPose3* pose)
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{
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pose->_real_part.s0 = 1.0;
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pose->_real_part.x1 = 0.0;
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pose->_real_part.x2 = 0.0;
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pose->_real_part.x3 = 0.0;
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pose->_versor.real_part.s0 = 1.0;
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pose->_versor.real_part.x1 = 0.0;
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pose->_versor.real_part.x2 = 0.0;
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pose->_versor.real_part.x3 = 0.0;
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pose->_dual_part.s0 = 0.0;
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pose->_dual_part.x1 = 0.0;
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pose->_dual_part.x2 = 0.0;
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pose->_dual_part.x3 = 0.0;
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pose->_versor.dual_part.s0 = 0.0;
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pose->_versor.dual_part.x1 = 0.0;
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pose->_versor.dual_part.x2 = 0.0;
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pose->_versor.dual_part.x3 = 0.0;
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}
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// ================= Normalize ================== //
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inline void _bgc_fp32_rigid_pose3_normalize(BGC_FP32_RigidPose3* pose)
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{
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const float square_magnitude = bgc_fp32_quaternion_get_square_magnitude(&pose->_versor.real_part);
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if (square_magnitude <= BGC_FP32_SQUARE_EPSILON || isnan(square_magnitude)) {
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bgc_fp32_rigid_pose3_reset(pose);
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return;
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}
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if (!bgc_fp32_is_square_unit(square_magnitude)) {
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const float multiplier = sqrtf(1.0f / square_magnitude);
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bgc_fp32_dual_quaternion_multiply_by_real_number(&pose->_versor, &pose->_versor, multiplier);
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}
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const float dot_product = bgc_fp32_quaternion_get_dot_product(&pose->_versor.real_part, &pose->_versor.dual_part);
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bgc_fp32_quaternion_subtract_scaled(&pose->_versor.dual_part, &pose->_versor.dual_part, &pose->_versor.real_part, dot_product);
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}
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inline void _bgc_fp64_rigid_pose3_normalize(BGC_FP64_RigidPose3* pose)
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{
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const double square_magnitude = bgc_fp64_quaternion_get_square_magnitude(&pose->_versor.real_part);
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if (square_magnitude <= BGC_FP64_SQUARE_EPSILON || isnan(square_magnitude)) {
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bgc_fp64_rigid_pose3_reset(pose);
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return;
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}
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if (!bgc_fp64_is_square_unit(square_magnitude)) {
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const double multiplier = sqrt(1.0 / square_magnitude);
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bgc_fp64_dual_quaternion_multiply_by_real_number(&pose->_versor, &pose->_versor, multiplier);
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}
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const double dot_product = bgc_fp64_quaternion_get_dot_product(&pose->_versor.real_part, &pose->_versor.dual_part);
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bgc_fp64_quaternion_subtract_scaled(&pose->_versor.dual_part, &pose->_versor.dual_part, &pose->_versor.real_part, dot_product);
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}
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// ==================== Copy ==================== //
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inline void bgc_fp32_rigid_pose3_copy(BGC_FP32_RigidPose3* destination, const BGC_FP32_RigidPose3* source)
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{
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bgc_fp32_quaternion_copy(&destination->_real_part, &source->_real_part);
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bgc_fp32_quaternion_copy(&destination->_dual_part, &source->_dual_part);
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bgc_fp32_dual_quaternion_copy(&destination->_versor, &source->_versor);
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}
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inline void bgc_fp64_rigid_pose3_copy(BGC_FP64_RigidPose3* destination, const BGC_FP64_RigidPose3* source)
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{
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bgc_fp64_quaternion_copy(&destination->_real_part, &source->_real_part);
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bgc_fp64_quaternion_copy(&destination->_dual_part, &source->_dual_part);
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bgc_fp64_dual_quaternion_copy(&destination->_versor, &source->_versor);
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}
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// ==================== Swap ==================== //
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inline void bgc_fp32_rigid_pose3_swap(BGC_FP32_RigidPose3* pose1, BGC_FP32_RigidPose3* pose2)
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{
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bgc_fp32_quaternion_swap(&pose1->_real_part, &pose2->_real_part);
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bgc_fp32_quaternion_swap(&pose1->_dual_part, &pose2->_dual_part);
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bgc_fp32_dual_quaternion_swap(&pose1->_versor, &pose2->_versor);
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}
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inline void bgc_fp64_rigid_pose3_swap(BGC_FP64_RigidPose3* pose1, BGC_FP64_RigidPose3* pose2)
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{
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bgc_fp64_quaternion_swap(&pose1->_real_part, &pose2->_real_part);
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bgc_fp64_quaternion_swap(&pose1->_dual_part, &pose2->_dual_part);
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bgc_fp64_dual_quaternion_swap(&pose1->_versor, &pose2->_versor);
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}
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// ================== Convert =================== //
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inline void bgc_fp32_rigid_pose3_convert_to_fp64(BGC_FP64_RigidPose3* destination, const BGC_FP32_RigidPose3* source)
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{
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bgc_fp32_quaternion_convert_to_fp64(&destination->_real_part, &source->_real_part);
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bgc_fp32_quaternion_convert_to_fp64(&destination->_dual_part, &source->_dual_part);
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bgc_fp32_dual_quaternion_convert_to_fp64(&destination->_versor, &source->_versor);
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_bgc_fp64_rigid_pose3_normalize(destination);
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}
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inline void bgc_fp64_rigid_pose3_convert_to_fp32(BGC_FP32_RigidPose3* destination, const BGC_FP64_RigidPose3* source)
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{
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bgc_fp64_quaternion_convert_to_fp32(&destination->_real_part, &source->_real_part);
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bgc_fp64_quaternion_convert_to_fp32(&destination->_dual_part, &source->_dual_part);
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bgc_fp64_dual_quaternion_convert_to_fp32(&destination->_versor, &source->_versor);
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_bgc_fp32_rigid_pose3_normalize(destination);
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}
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@ -114,27 +119,13 @@ inline void bgc_fp64_rigid_pose3_convert_to_fp32(BGC_FP32_RigidPose3* destinatio
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inline void bgc_fp32_rigid_pose3_combine(BGC_FP32_RigidPose3* combination, const BGC_FP32_RigidPose3* first, const BGC_FP32_RigidPose3* second)
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{
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BGC_FP32_Quaternion dual_part1, dual_part2;
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_bgc_fp32_restrict_quaternion_multiply_by_quaternion(&dual_part1, &second->_real_part, &first->_dual_part);
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_bgc_fp32_restrict_quaternion_multiply_by_quaternion(&dual_part2, &second->_dual_part, &first->_real_part);
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bgc_fp32_quaternion_multiply_by_quaternion(&combination->_real_part, &second->_real_part, &first->_real_part);
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bgc_fp32_quaternion_add(&combination->_dual_part, &dual_part1, &dual_part2);
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bgc_fp32_dual_quaternion_multiply_by_dual_quaternion(&combination->_versor, &second->_versor, &first->_versor);
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_bgc_fp32_rigid_pose3_normalize(combination);
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}
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inline void bgc_fp64_rigid_pose3_combine(BGC_FP64_RigidPose3* combination, const BGC_FP64_RigidPose3* first, const BGC_FP64_RigidPose3* second)
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{
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BGC_FP64_Quaternion dual_part1, dual_part2;
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_bgc_fp64_restrict_quaternion_multiply_by_quaternion(&dual_part1, &second->_real_part, &first->_dual_part);
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_bgc_fp64_restrict_quaternion_multiply_by_quaternion(&dual_part2, &second->_dual_part, &first->_real_part);
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bgc_fp64_quaternion_multiply_by_quaternion(&combination->_real_part, &second->_real_part, &first->_real_part);
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bgc_fp64_quaternion_add(&combination->_dual_part, &dual_part1, &dual_part2);
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bgc_fp64_dual_quaternion_multiply_by_dual_quaternion(&combination->_versor, &second->_versor, &first->_versor);
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_bgc_fp64_rigid_pose3_normalize(combination);
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}
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