pytransform3d.rotations.check_quaternions

pytransform3d.rotations.check_quaternions(Q, unit=True)

Input validation of quaternion representation.

Parameters:

Qarray-like, shape (n_steps, 4)

Quaternions to represent rotations: (w, x, y, z)

unitbool, optional (default: True)

Normalize the quaternions so that they are unit quaternions

Returns:

Qarray, shape (n_steps, 4)

Validated quaternions to represent rotations: (w, x, y, z)

Raises:

ValueError

If input is invalid