bundles / scipy 1.17.1 / scipy / spatial / transform / _rigid_transform_xp / _normalize_dual_quaternion
function
scipy.spatial.transform._rigid_transform_xp:_normalize_dual_quaternion
source: /scipy/spatial/transform/_rigid_transform_xp.py :420
Signature
def _normalize_dual_quaternion ( real_part : Array , dual_part : Array ) → tuple[Array, Array] Summary
Ensure that the dual quaternion has unit norm.
Extended Summary
The norm is a dual number and must be 1 + 0 * epsilon, which means that the real quaternion must have unit norm and the dual quaternion must be orthogonal to the real quaternion.
Aliases
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scipy.spatial.transform._rigid_transform_xp._normalize_dual_quaternion