There was some confusion with the correct way to transform points using a DQ. I was basically converting the point to a pose and then applying a simple frame transformation and using that result as opposed to using the mathematically correct way to apply a transformation to a point. This new way is parallel to the way you apply a rotation to a point using quaternions: qvq*: we do dq * v * dq* where we use the combined conjugate (dual number and individual quaternion conjugate combined)
Description
There was some confusion with the correct way to transform points using a DQ. I was basically converting the point to a pose and then applying a simple frame transformation and using that result as opposed to using the mathematically correct way to apply a transformation to a point. This new way is parallel to the way you apply a rotation to a point using quaternions:
qvq*: we dodq * v * dq*where we use the combined conjugate (dual number and individual quaternion conjugate combined)Resolve #29