pytransform3d.transformations.dq_conj

pytransform3d.transformations.dq_conj(dq)

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)