pytransform3d.transformations.dq_conj

pytransform3d.transformations.dq_conj(dq, unit=True)

Conjugate of dual quaternion.

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:

dqarray-like, shape (8,)

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

unitbool, optional (default: True)

Normalize the dual quaternion so that it is a unit dual quaternion. A unit dual quaternion has the properties \(p_w^2 + p_x^2 + p_y^2 + p_z^2 = 1\) and \(p_w q_w + p_x q_x + p_y q_y + p_z q_z = 0\).

Returns:

dq_conjugatearray, shape (8,)

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

See also

dq_q_conj

Quaternion conjugate of dual quaternion.