diff --git a/basic-geometry/dual-quaternion.c b/basic-geometry/dual-quaternion.c
index 8a625b7..ab14d0f 100644
--- a/basic-geometry/dual-quaternion.c
+++ b/basic-geometry/dual-quaternion.c
@@ -18,6 +18,24 @@ extern inline void bgc_fp64_dual_quaternion_revert(BGC_FP64_DualQuaternion* quat
 extern inline void bgc_fp32_dual_quaternion_get_reverse(BGC_FP32_DualQuaternion* reverse, const BGC_FP32_DualQuaternion* quaternion);
 extern inline void bgc_fp64_dual_quaternion_get_reverse(BGC_FP64_DualQuaternion* reverse, const BGC_FP64_DualQuaternion* quaternion);
 
+extern inline void bgc_fp32_dual_quaternion_component_conjugate(BGC_FP32_DualQuaternion* quaternion);
+extern inline void bgc_fp64_dual_quaternion_component_conjugate(BGC_FP64_DualQuaternion* quaternion);
+
+extern inline void bgc_fp32_dual_quaternion_get_component_conjugate(BGC_FP32_DualQuaternion* conjugate, const BGC_FP32_DualQuaternion* quaternion);
+extern inline void bgc_fp64_dual_quaternion_get_component_conjugate(BGC_FP64_DualQuaternion* conjugate, const BGC_FP64_DualQuaternion* quaternion);
+
+extern inline void bgc_fp32_dual_quaternion_dual_conjugate(BGC_FP32_DualQuaternion* quaternion);
+extern inline void bgc_fp64_dual_quaternion_dual_conjugate(BGC_FP64_DualQuaternion* quaternion);
+
+extern inline void bgc_fp32_dual_quaternion_get_dual_conjugate(BGC_FP32_DualQuaternion* conjugate, const BGC_FP32_DualQuaternion* quaternion);
+extern inline void bgc_fp64_dual_quaternion_get_dual_conjugate(BGC_FP64_DualQuaternion* conjugate, const BGC_FP64_DualQuaternion* quaternion);
+
+extern inline void bgc_fp32_dual_quaternion_fully_conjugate(BGC_FP32_DualQuaternion* quaternion);
+extern inline void bgc_fp64_dual_quaternion_fully_conjugate(BGC_FP64_DualQuaternion* quaternion);
+
+extern inline void bgc_fp32_dual_quaternion_get_fully_conjugate(BGC_FP32_DualQuaternion* conjugate, const BGC_FP32_DualQuaternion* quaternion);
+extern inline void bgc_fp64_dual_quaternion_get_fully_conjugate(BGC_FP64_DualQuaternion* conjugate, const BGC_FP64_DualQuaternion* quaternion);
+
 extern inline void bgc_fp32_dual_quaternion_add(BGC_FP32_DualQuaternion* sum, const BGC_FP32_DualQuaternion* first, const BGC_FP32_DualQuaternion* second);
 extern inline void bgc_fp64_dual_quaternion_add(BGC_FP64_DualQuaternion* sum, const BGC_FP64_DualQuaternion* first, const BGC_FP64_DualQuaternion* second);
 
diff --git a/basic-geometry/dual-quaternion.h b/basic-geometry/dual-quaternion.h
index a666694..4c9450d 100644
--- a/basic-geometry/dual-quaternion.h
+++ b/basic-geometry/dual-quaternion.h
@@ -88,6 +88,108 @@ inline void bgc_fp64_dual_quaternion_get_reverse(BGC_FP64_DualQuaternion* revers
     bgc_fp64_quaternion_get_reverse(&reverse->dual_part, &quaternion->dual_part);
 }
 
+// ============ Component Conjugate ============= //
+
+inline void bgc_fp32_dual_quaternion_component_conjugate(BGC_FP32_DualQuaternion* quaternion)
+{
+    bgc_fp32_quaternion_conjugate(&quaternion->real_part);
+    bgc_fp32_quaternion_conjugate(&quaternion->dual_part);
+}
+
+inline void bgc_fp64_dual_quaternion_component_conjugate(BGC_FP64_DualQuaternion* quaternion)
+{
+    bgc_fp64_quaternion_conjugate(&quaternion->real_part);
+    bgc_fp64_quaternion_conjugate(&quaternion->dual_part);
+}
+
+// ========== Get Component Conjugate =========== //
+
+inline void bgc_fp32_dual_quaternion_get_component_conjugate(BGC_FP32_DualQuaternion* conjugate, const BGC_FP32_DualQuaternion* quaternion)
+{
+    bgc_fp32_quaternion_get_conjugate(&conjugate->real_part, &quaternion->real_part);
+    bgc_fp32_quaternion_get_conjugate(&conjugate->dual_part, &quaternion->dual_part);
+}
+
+inline void bgc_fp64_dual_quaternion_get_component_conjugate(BGC_FP64_DualQuaternion* conjugate, const BGC_FP64_DualQuaternion* quaternion)
+{
+    bgc_fp64_quaternion_get_conjugate(&conjugate->real_part, &quaternion->real_part);
+    bgc_fp64_quaternion_get_conjugate(&conjugate->dual_part, &quaternion->dual_part);
+}
+
+// =============== Dual Conjugate =============== //
+
+inline void bgc_fp32_dual_quaternion_dual_conjugate(BGC_FP32_DualQuaternion* quaternion)
+{
+    bgc_fp32_quaternion_revert(&quaternion->dual_part);
+}
+
+inline void bgc_fp64_dual_quaternion_dual_conjugate(BGC_FP64_DualQuaternion* quaternion)
+{
+    bgc_fp64_quaternion_revert(&quaternion->dual_part);
+}
+
+// ============= Get Dual Conjugate ============= //
+
+inline void bgc_fp32_dual_quaternion_get_dual_conjugate(BGC_FP32_DualQuaternion* conjugate, const BGC_FP32_DualQuaternion* quaternion)
+{
+    bgc_fp32_quaternion_copy(&conjugate->real_part, &quaternion->dual_part);
+    bgc_fp32_quaternion_get_reverse(&conjugate->real_part, &quaternion->dual_part);
+}
+
+inline void bgc_fp64_dual_quaternion_get_dual_conjugate(BGC_FP64_DualQuaternion* conjugate, const BGC_FP64_DualQuaternion* quaternion)
+{
+    bgc_fp64_quaternion_copy(&conjugate->real_part, &quaternion->dual_part);
+    bgc_fp64_quaternion_get_reverse(&conjugate->real_part, &quaternion->dual_part);
+}
+
+// ============== Fully Conjugate =============== //
+
+inline void bgc_fp32_dual_quaternion_fully_conjugate(BGC_FP32_DualQuaternion* quaternion)
+{
+    quaternion->real_part.x1 = -quaternion->real_part.x1;
+    quaternion->real_part.x2 = -quaternion->real_part.x2;
+    quaternion->real_part.x3 = -quaternion->real_part.x3;
+
+    quaternion->dual_part.s0 = -quaternion->dual_part.s0;
+}
+
+inline void bgc_fp64_dual_quaternion_fully_conjugate(BGC_FP64_DualQuaternion* quaternion)
+{
+    quaternion->real_part.x1 = -quaternion->real_part.x1;
+    quaternion->real_part.x2 = -quaternion->real_part.x2;
+    quaternion->real_part.x3 = -quaternion->real_part.x3;
+
+    quaternion->dual_part.s0 = -quaternion->dual_part.s0;
+}
+
+// ============ Get Fully Conjugate ============= //
+
+inline void bgc_fp32_dual_quaternion_get_fully_conjugate(BGC_FP32_DualQuaternion* conjugate, const BGC_FP32_DualQuaternion* quaternion)
+{
+    conjugate->real_part.s0 =  quaternion->real_part.s0;
+    conjugate->real_part.x1 = -quaternion->real_part.x1;
+    conjugate->real_part.x2 = -quaternion->real_part.x2;
+    conjugate->real_part.x3 = -quaternion->real_part.x3;
+
+    conjugate->dual_part.s0 = -quaternion->dual_part.s0;
+    conjugate->dual_part.x1 =  quaternion->dual_part.x1;
+    conjugate->dual_part.x2 =  quaternion->dual_part.x2;
+    conjugate->dual_part.x3 =  quaternion->dual_part.x3;
+}
+
+inline void bgc_fp64_dual_quaternion_get_fully_conjugate(BGC_FP64_DualQuaternion* conjugate, const BGC_FP64_DualQuaternion* quaternion)
+{
+    conjugate->real_part.s0 =  quaternion->real_part.s0;
+    conjugate->real_part.x1 = -quaternion->real_part.x1;
+    conjugate->real_part.x2 = -quaternion->real_part.x2;
+    conjugate->real_part.x3 = -quaternion->real_part.x3;
+
+    conjugate->dual_part.s0 = -quaternion->dual_part.s0;
+    conjugate->dual_part.x1 =  quaternion->dual_part.x1;
+    conjugate->dual_part.x2 =  quaternion->dual_part.x2;
+    conjugate->dual_part.x3 =  quaternion->dual_part.x3;
+}
+
 // ==================== Add ===================== //
 
 inline void bgc_fp32_dual_quaternion_add(BGC_FP32_DualQuaternion* sum, const BGC_FP32_DualQuaternion* first, const BGC_FP32_DualQuaternion* second)
@@ -258,30 +360,6 @@ inline void bgc_fp64_dual_quaternion_multiply_by_dual_quaternion(BGC_FP64_DualQu
     bgc_fp64_quaternion_add(&product->dual_part, &dual_part1, &dual_part2);
 }
 
-// === Multiply by Conjugate Dual Quaternion ==== //
-
-inline void bgc_fp32_dual_quaternion_multiply_by_conjugate_dual_quaternion(BGC_FP32_DualQuaternion* product, const BGC_FP32_DualQuaternion* multiplicand, const BGC_FP32_DualQuaternion* multiplier_to_conjugate)
-{
-    BGC_FP32_Quaternion dual_part1, dual_part2;
-
-    bgc_fp32_quaternion_multiply_by_conjugate(&dual_part1, &multiplicand->real_part, &multiplier_to_conjugate->dual_part);
-    bgc_fp32_quaternion_multiply_by_conjugate(&dual_part2, &multiplicand->dual_part, &multiplier_to_conjugate->real_part);
-
-    bgc_fp32_quaternion_multiply_by_conjugate(&product->real_part, &multiplicand->real_part, &multiplier_to_conjugate->real_part);
-    bgc_fp32_quaternion_add(&product->dual_part, &dual_part1, &dual_part2);
-}
-
-inline void bgc_fp64_dual_quaternion_multiply_by_conjugate_dual_quaternion(BGC_FP64_DualQuaternion* product, const BGC_FP64_DualQuaternion* multiplicand, const BGC_FP64_DualQuaternion* multiplier_to_conjugate)
-{
-    BGC_FP64_Quaternion dual_part1, dual_part2;
-
-    bgc_fp64_quaternion_multiply_by_conjugate(&dual_part1, &multiplicand->real_part, &multiplier_to_conjugate->dual_part);
-    bgc_fp64_quaternion_multiply_by_conjugate(&dual_part2, &multiplicand->dual_part, &multiplier_to_conjugate->real_part);
-
-    bgc_fp64_quaternion_multiply_by_quaternion(&product->real_part, &multiplicand->real_part, &multiplier_to_conjugate->real_part);
-    bgc_fp64_quaternion_add(&product->dual_part, &dual_part1, &dual_part2);
-}
-
 // =================== Divide =================== //
 
 inline int bgc_fp32_dual_quaternion_divide_by_real_number(BGC_FP32_DualQuaternion* quotient, const BGC_FP32_DualQuaternion* dividend, const float divisor)