pytransform3d.transformations.dq_q_conj

pytransform3d.transformations.dq_q_conj(dq)

Quaternion conjugate of dual quaternion.

For unit dual quaternions that represent transformations, this function is equivalent to the inverse of the corresponding transformation matrix.

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 the quaternion conjugate applied to each of the two quaternions.

Parameters:

dqarray-like, shape (8,)

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

Returns:

dq_q_conjugatearray, shape (8,)

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

See also

dq_conj

Conjugate of a dual quaternion.