pytransform3d.transformations.assert_unit_dual_quaternion

pytransform3d.transformations.assert_unit_dual_quaternion(dq, *args, **kwargs)

Raise an assertion if the dual quaternion does not have unit norm.

See numpy.testing.assert_array_almost_equal for a more detailed documentation of the other parameters.

Parameters:

dqarray-like, shape (8,)

Unit dual quaternion to represent transform: (pw, px, py, pz, qw, qx, qy, qz)

argstuple

Positional arguments that will be passed to assert_array_almost_equal

kwargsdict

Positional arguments that will be passed to assert_array_almost_equal

See also

check_dual_quaternion

Input validation of dual quaternion representation. Has an option to normalize the dual quaternion.

dual_quaternion_requires_renormalization

Check if normalization is required.

norm_dual_quaternion

Normalization that enforces unit norm and orthogonality of the real and dual quaternion.