skrobot.coordinates.math.quaternion_conjugate¶

skrobot.coordinates.math.quaternion_conjugate(quaternion)[source]¶

Return conjugate of quaternion.

Parameters:: quaternion (list or numpy.ndarray) – quaternion [w, x, y, z]
Returns:: conjugate of quaternion – [w, x, y, z]
Return type:: numpy.ndarray

Examples

>>> q0 = random_quaternion()
>>> q1 = quaternion_conjugate(q0)
>>> np.allclose(quaternion_multiply(q0, q1), [1.0, 0, 0, 0])
True