pytransform3d.transformations.pq_from_dual_quaternion

pytransform3d.transformations.pq_from_dual_quaternion(dq)[source]

Compute position and quaternion from dual quaternion.

Parameters
dqarray-like, shape (8,)

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

Returns
pqarray, shape (7,)

Position and orientation quaternion: (x, y, z, qw, qx, qy, qz)

Examples using pytransform3d.transformations.pq_from_dual_quaternion