pytransform3d.trajectories.batch_concatenate_dual_quaternions

pytransform3d.trajectories.batch_concatenate_dual_quaternions(dqs1, dqs2)

Concatenate dual quaternions.

Suppose we want to apply two extrinsic transforms given by dual quaternions dq1 and dq2 to a vector v. We can either apply dq2 to v and then dq1 to the result or we can concatenate dq1 and dq2 and apply the result to v.

Parameters:

dqs1array-like, shape (…, 8)

Dual quaternions to represent transforms: (pw, px, py, pz, qw, qx, qy, qz)

dqs2array-like, shape (…, 8)

Dual quaternions to represent transforms: (pw, px, py, pz, qw, qx, qy, qz)

Returns:

dqs3array, shape (8,)

Products of the two batches of dual quaternions: (pw, px, py, pz, qw, qx, qy, qz)