pytransform3d.transformations.pq_from_dual_quaternion

pytransform3d.transformations.pq_from_dual_quaternion(dq)

Compute position and quaternion from dual quaternion.

Parameters:

dqarray-like, shape (8,)

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

Returns:

pqarray, shape (7,)

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