pytransform3d.rotations.quaternion_requires_renormalization

pytransform3d.rotations.quaternion_requires_renormalization(q, tolerance=1e-06)

Check if a unit quaternion requires renormalization.

Quaternions that represent rotations should have unit norm, so we check \(||\boldsymbol{q}|| \approx 1\).

Parameters:

qarray-like, shape (4,)

Quaternion to represent rotation: (w, x, y, z)

tolerancefloat, optional (default: 1e-6)

Tolerance for check.

Returns:

requiredbool

Renormalization is required.

See also

check_quaternion

Normalizes quaternion.