skrobot.coordinates.math.quaternion_normalize¶

skrobot.coordinates.math.quaternion_normalize(q)[source]¶

Return the normalized quaternion.

Parameters:: q (list or numpy.ndarray) – [w, x, y, z] order
Returns:: normalized_q – normalized quaternion
Return type:: numpy.ndarray

Examples

>>> from skrobot.coordinates.math import quaternion_normalize
>>> from skrobot.coordinates.math import quaternion_norm
>>> q = quaternion_normalize([1, 1, 1, 1])
>>> quaternion_norm(q)
1.0