skrobot.coordinates.math.random_quaternion

skrobot.coordinates.math.random_quaternion()

Generate uniform random unit quaternion.

Returns:

quaternion – generated random unit quaternion [w, x, y, z]

Return type:

numpy.ndarray

Examples

>>> from skrobot.coordinates.math import random_quaternion
>>> random_quaternion()
array([-0.02156994,  0.5404561 , -0.72781116, -0.42158374])
>>> random_quaternion()
array([-0.47302116,  0.020306  , -0.37539238,  0.79681818])
>>> from skrobot.coordinates.math import quaternion_norm
>>> q = random_quaternion()
>>> numpy.allclose(1.0, quaternion_norm(q))
True
>>> q.shape
(4,)