pytransform3d.transformations
.dq_conj#
- pytransform3d.transformations.dq_conj(dq)[source]#
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)
- 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.