tfg.geometry.transformation.dual_quaternion.conjugate_dual

Computes the conjugate (of dual numbers) in a dual quaternion.

tfg.geometry.transformation.dual_quaternion.conjugate_dual(
    dual_quaternion: type_alias.TensorLike,
    name: str = 'dual_quaternion_conjugate'
) -> tf.Tensor

For a dual quaternion q = q_0 + epsilon q_e, the dual conjugate is defined as q = q_0 - epsilon q_e. In the following, A1 to An are optional batch dimensions.

dual_quaternion A TensorLike of shape [A1, ..., An, 8], where the last dimension represents a normalized dual quaternion.
name A name for this op that defaults to "dual_quaternion_conjugate".

A tensor of shape [A1, ..., An, 8], where the last dimension represents a normalized dual quaternion.

ValueError If the shape of dual_quaternion is not supported.