dual_quat_conjugate — Conjugate a dual quaternion.
The operator dual_quat_conjugate computes the conjugation DualQuaternionConjugate of the input dual quaternion DualQuaternion.
For a brief introduction to dual quaternions, the used notation, and the relationship between dual quaternions and screws, see the documentation of this chapter (Transformations / Dual Quaternions).
The conjugation of a dual quaternion is given by , where and are the conjugations of the quaternions and .
For the conjugation of quaternions see quat_conjugate.
If DualQuaternion is a unit dual quaternion and, hence, represents a 3D rigid transformation, its inverse is its conjugate, i.e., . Consequently, DualQuaternionConjugate represents the inverse 3D rigid transformation of DualQuaternion. Therefore, dual_quat_conjugate can be used to invert a 3D rigid transformation analogously to pose_invert or hom_mat3d_invert.
Conjugate of the dual quaternion.
dual_quat_compose, pose_to_dual_quat, screw_to_dual_quat
dual_quat_compose, dual_quat_to_hom_mat3d, dual_quat_to_screw, dual_quat_interpolate, dual_quat_to_pose
dual_quat_normalize, serialize_dual_quat, deserialize_dual_quat, dual_quat_trans_line_3d, quat_conjugate