pytransform3d.transformations.dual_quaternion_from_pq

pytransform3d.transformations.dual_quaternion_from_pq(pq)

Compute dual quaternion from position and quaternion.

Parameters:

pqarray-like, shape (7,)

Position and orientation quaternion: (x, y, z, qw, qx, qy, qz)

Returns:

dqarray, shape (8,)

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