pytransform3d.transformations.norm_dual_quaternion

pytransform3d.transformations.norm_dual_quaternion(dq)

Normalize unit dual quaternion.

A unit dual quaternion has a real quaternion with unit norm and an orthogonal real part. Both properties are enforced by multiplying a normalization factor [1]. This is not always necessary. It is often sufficient to only enforce the unit norm property of the real quaternion. This can also be done with check_dual_quaternion().

Parameters:

dqarray-like, shape (8,)

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

Returns:

dqarray, shape (8,)

Unit dual quaternion to represent transform with orthogonal real and dual quaternion.

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.

References

[1]

enki (2023). Properly normalizing a dual quaternion. https://stackoverflow.com/a/76313524