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

Note
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.

Args
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".

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

Raises
ValueError	If the shape of dual_quaternion is not supported.