pytransform3d.trajectories.batch_dq_q_conj

pytransform3d.trajectories.batch_dq_q_conj(dqs)

Quaternion conjugate of dual quaternions.

For unit dual quaternions that represent transformations, this function is equivalent to the inverse of the corresponding transformation matrix.

Parameters:

dqsarray-like, shape (…, 8)

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

Returns:

dq_q_conjugatesarray, shape (…, 8)

Conjugate of dual quaternion: (pw, -px, -py, -pz, qw, -qx, -qy, -qz)

See also

pytransform3d.transformations.dq_q_conj

Quaternion conjugate of dual quaternions.