def conjugate(self):
        twin = Q(self)
        for i in range(3):
            twin._v[i] = -twin._v[i]
        twin._l = twin._l
        return twin
The conjugate of a quaternion has its X, Y and Z negated.
dataset/ETHPy150Open hhatto/autopep8/test/vectors_example.py/Q.conjugate