Implement the sharp conjugation operation

[bvadorno]

Murilo, I've just implemented the sharp conjugation operation in Matlab (matlab/@DQ/transpose.m). Could you please add it to the C++ code?

See Eq. (2.5.3) from Adorno, B. V. (2017). Robot Kinematic Modeling and Control Based on Dual Quaternion Algebra -- Part I: Fundamentals, which can be found here

[mmmarinho]

You mean the one in Eq. (2.5.4) page 34?

C++ doesn't have the ' operator. A similar one would be to use transpose() as they use in eigen3.

In this version I called it sharp() since it's not actually a transposition. Or is it?

[bvadorno]

Hi, Murilo.

Yes, this one. Indeed, it is not a transpose. Instead, it is a type of conjugate, as the name suggests. Therefore, sharp is a good name.

Cheers,
Bruno