Math: creating DualQuaternion from vector.

src/Math/DualQuaternion.h

@@ -84,6 +84,20 @@ template<class T> class DualQuaternion: public Dual<Quaternion<T>> {
          */
         inline constexpr /*implicit*/ DualQuaternion(const Quaternion<T>& real, const Quaternion<T>& dual): Dual<Quaternion<T>>(real, dual) {}
 
+        /**
+         * @brief Construct dual quaternion from vector
+         *
+         * @f[
+         *      \hat q = [\boldsymbol 0, 1] + \epsilon [\boldsymbol v, 0]
+         * @f]
+         * @todoc Remove workaround when Doxygen is predictable
+         */
+        #ifdef DOXYGEN_GENERATING_OUTPUT
+        inline constexpr explicit DualQuaternion(const Vector3<T>& vector);
+        #else
+        inline constexpr explicit DualQuaternion(const Vector3<T>& vector): Dual<Quaternion<T>>({}, {vector, T(0)}) {}
+        #endif
+
         /**
          * @brief Rotation angle of unit dual quaternion
          *

src/Math/Test/DualQuaternionTest.cpp

@@ -27,6 +27,7 @@ class DualQuaternionTest: public Corrade::TestSuite::Tester {
 
         void construct();
         void constructDefault();
+        void constructFromVector();
 
         void norm();
 
@@ -49,6 +50,7 @@ typedef Math::Vector3<float> Vector3;
 DualQuaternionTest::DualQuaternionTest() {
     addTests(&DualQuaternionTest::construct,
              &DualQuaternionTest::constructDefault,
+             &DualQuaternionTest::constructFromVector,
 
              &DualQuaternionTest::norm,
 
@@ -73,6 +75,10 @@ void DualQuaternionTest::constructDefault() {
     CORRADE_COMPARE(DualQuaternion(), DualQuaternion({{0.0f, 0.0f, 0.0f}, 1.0f}, {{0.0f, 0.0f, 0.0f}, 0.0f}));
 }
 
+void DualQuaternionTest::constructFromVector() {
+    CORRADE_COMPARE(DualQuaternion({1.0f, 2.0f, 3.0f}), DualQuaternion({{0.0f, 0.0f, 0.0f}, 1.0f}, {{1.0f, 2.0f, 3.0f}, 0.0f}));
+}
+
 void DualQuaternionTest::norm() {
     CORRADE_COMPARE(DualQuaternion().norm(), 1.0f);