pytransform3d.trajectories.dual_quaternions_from_pqs

pytransform3d.trajectories.dual_quaternions_from_pqs(pqs)

Get dual quaternions from positions and quaternions.

Parameters:

pqsarray-like, shape (…, 7)

Poses represented by positions and quaternions in the order (x, y, z, qw, qx, qy, qz)

Returns:

dqsarray, shape (…, 8)

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