pytransform3d.transformations.dual_quaternion_power

pytransform3d.transformations.dual_quaternion_power(dq, t)

Compute power of unit dual quaternion with respect to scalar.

\[(p + \epsilon q)^t\]

Parameters:

dqarray-like, shape (8,)

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

tfloat

Exponent

Returns:

dq_tarray, shape (8,)

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