pytransform3d.transformations.dual_quaternion_from_transform

pytransform3d.transformations.dual_quaternion_from_transform(A2B)[source]

Compute dual quaternion from transformation matrix.

Parameters
A2Barray-like, shape (4, 4)

Transform from frame A to frame B

Returns
dqarray, shape (8,)

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

Examples using pytransform3d.transformations.dual_quaternion_from_transform