pytransform3d.transformations.concatenate_dual_quaternions

pytransform3d.transformations.concatenate_dual_quaternions(dq1, dq2)

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.

Warning

Note that the order of arguments is different than the order in concat().

Parameters:

dq1array-like, shape (8,)

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

dq2array-like, shape (8,)

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

Returns:

dq3array, shape (8,)

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