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 \(\boldsymbol{q}\) is often denoted as \(\boldsymbol{q}^*\). For a quaternion \(\boldsymbol{q} = w + x \boldsymbol{i} + y \boldsymbol{j} + z \boldsymbol{k}\) it is defined as

\[\boldsymbol{q}^* = w - x \boldsymbol{i} - y \boldsymbol{j} - z \boldsymbol{k}.\]

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.