def test_conjugate_identity(self):
qr = Quaternion(1, 2, 3, 4)
qt = Quaternion(1, 3, 3, 0)
dq = DualQuaternion(qr, qt)
# TODO(ff): Here we should use dq*dq.conjugate() in one
# place.
q_rot_identity = dq.q_rot * dq.q_rot.conjugate()
q_dual_identity = (dq.q_rot.conjugate() * dq.q_dual +
dq.q_dual.conjugate() * dq.q_rot)
identity_dq_expected = DualQuaternion(q_rot_identity, q_dual_identity)
npt.assert_allclose((dq * dq.conjugate()).dq,
identity_dq_expected.dq,
atol=1e-6)
def test_conjugate(self):
qr = Quaternion(1., 2., 3., 4.)
qt = Quaternion(1., 3., 3., 5.)
dq = DualQuaternion(qr, qt)
dq_expected = np.array([-1., -2., -3., 4., -1., -3., -3., 5.]).T
npt.assert_allclose((dq.conjugate()).dq, dq_expected, atol=1e-6)
