`pytransform3d.transformations`.dual_quaternion_power¶

pytransform3d.transformations.dual_quaternion_power(dq, t)[source]¶

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