pytransform3d.transformations.dual_quaternion_double#

pytransform3d.transformations.dual_quaternion_double(dq)[source]#

Create another dual quaternion that represents the same transformation.

The unit dual quaternions $\mathit{\sigma }=\mathit{p}+ϵ\mathit{q}$ and $-\mathit{\sigma }$ represent exactly the same transformation. The reason for this ambiguity is that the real quaternion $\mathit{p}$ represents the orientation component, the dual quaternion encodes the translation component as $\mathit{q}=0.5\mathit{t}\mathit{p}$, where $\mathit{t}$ is a quaternion with the translation in the vector component and the scalar 0, and rotation quaternions have the same ambiguity.

Parameters:

dqarray-like, shape (8,)

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

Returns:

dq_doublearray, shape (8,)

-dq