`scipy.spatial.transform._rigid_transform:normalize_dual_quaternion`

source: /scipy/spatial/transform/_rigid_transform.py:44

Signature

def normalize_dual_quaternion(dual_quat: ArrayLike) → Array

Summary

Normalize dual quaternion.

Notes

Array API Standard Support

normalize_dual_quaternion has experimental support for Python Array API Standard compatible backends in addition to NumPy. Please consider testing these features by setting an environment variable SCIPY_ARRAY_API=1 and providing CuPy, PyTorch, JAX, or Dask arrays as array arguments. The following combinations of backend and device (or other capability) are supported.

====================  ====================  ====================
Library               CPU                   GPU
====================  ====================  ====================
NumPy                 ✅                     n/a                 
CuPy                  n/a                   ✅                   
PyTorch               ✅                     ✅                   
JAX                   ✅                     ✅                   
Dask                  ✅                     n/a                 
====================  ====================  ====================

See dev-arrayapi for more information.

Aliases

scipy.spatial.transform._rigid_transform.normalize_dual_quaternion