jaxtransform3d.transformations.dual_quaternion_quaternion_conjugate

jaxtransform3d.transformations.dual_quaternion_quaternion_conjugate(dual_quat: Array | ndarray | bool_ | number | bool | int | float | complex) → Array

Quaternion conjugate of dual quaternions.

For unit dual quaternions that represent transformations, this function is equivalent to the inverse of the corresponding transformation matrix.

Parameters:

dual_quatarray-like, shape (…, 8)

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

Returns:

dual_quat2array, shape (…, 8)

Conjugate of dual quaternion: (pw, -px, -py, -pz, qw, -qx, -qy, -qz)