pytransform3d.trajectories.batch_dq_conj

pytransform3d.trajectories.batch_dq_conj(dqs)

Conjugate of dual quaternions.

There are three different conjugates for dual quaternions. The one that we use here converts (pw, px, py, pz, qw, qx, qy, qz) to (pw, -px, -py, -pz, -qw, qx, qy, qz). It is a combination of the quaternion conjugate and the dual number conjugate.

Parameters:

dqsarray-like, shape (…, 8)

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

Returns:

dq_conjugatesarray-like, shape (…, 8)

Conjugates of dual quaternions: (pw, -px, -py, -pz, -qw, qx, qy, qz)