Quaternions¶

DualQuaternion¶

A class for represeting and manipulating dual quaternions.

class autolab_core.DualQuaternion(qr=[1, 0, 0, 0], qd=[0, 0, 0, 0], enforce_unit_norm=True)¶

Class for handling dual quaternions and their interpolations.

qr¶

A 4-entry quaternion in wxyz format.

qd¶

A 4-entry quaternion in wxyz format.

conjugate¶

The conjugate of this DualQuaternion.

norm¶

The normalized vectors for qr and qd, respectively.

normalized¶

This quaternion with qr normalized.