If it helps, glmatrix has a pretty readable dual quaternion implementation
github.com/toji/gl-matr...

I wrote most of the code ages ago, I hope I didn't make too many bugs.

I tried it with a few toy examples and it worked like a charm. However, it currently has the massive limitation of only working with the top crate. Even just putting your code in a lib.rs already prevents today's subsecond from working.