def dual_quaternion(self):
        """:obj:`DualQuaternion`: The DualQuaternion corresponding to this
        transform.
        """
        qr = self.quaternion
        qd = np.append([0], self.translation / 2.)
        return DualQuaternion(qr, qd)
:obj:`DualQuaternion`: The DualQuaternion corresponding to this
        transform.