pytransform3d.rotations.q_conj

pytransform3d.rotations.q_conj(q)

Conjugate of quaternion.

The conjugate of a unit quaternion inverts the rotation represented by this unit quaternion. The conjugate of a quaternion q is often denoted as q*.

Parameters:

qarray-like, shape (4,)

Unit quaternion to represent rotation: (w, x, y, z)

Returns:

q_carray-like, shape (4,)

Conjugate (w, -x, -y, -z)

See also

rotor_reverse

Reverse of a rotor, which is the same operation.