pytransform3d.transformations.dq_q_conj

pytransform3d.transformations.dq_q_conj(dq)[source]

Quaternion conjugate of dual quaternion.

There are three different conjugates for dual quaternions. The one that we use here converts (pw, px, py, pz, qw, qx, qy, qz) to (pw, -px, -py, -pz, qw, -qx, -qy, -qz). It is the quaternion conjugate applied to each of the two quaternions.

For unit dual quaternions that represent transformations, this function is equivalent to the inverse of the corresponding transformation matrix.

Parameters
dqarray-like, shape (8,)

Unit dual quaternion to represent transform: (pw, px, py, pz, qw, qx, qy, qz)

Returns
dq_q_conjugatearray-like, shape (8,)

Conjugate of dual quaternion: (pw, -px, -py, -pz, qw, -qx, -qy, -qz)

Examples using pytransform3d.transformations.dq_q_conj