How to use

normalize

method

in

us.ihmc.euclid.tuple4D.Quaternion

rotationError.normalize();

qActual.set(qExpected);
qExpected.normalize();
qActual.normalizeAndLimitToPi();
qActual.set(qExpected);
qExpected.normalize();
qActual.normalizeAndLimitToPi();

qref.normalize();
mTest.set(qref);
qtest.normalize();
qdiff.normalize();

@Override
@Test
public void testNormalize()
{
 super.testNormalize();
 Quaternion expected = new Quaternion();
 Quaternion actual = new Quaternion();
 actual.setUnsafe(0.0, 0.0, 0.0, 0.0);
 actual.normalize();
 EuclidCoreTestTools.assertTuple4DEquals(expected, actual, getEpsilon());
 Quaternion q = new Quaternion();
 q.setUnsafe(1.0, 1.0, 1.0, 1.0);
 actual.setAndNormalize(q);
 assertTrue(actual.isUnitary(getEpsilon()));
 q.setUnsafe(1.0, 1.0, 1.0, 1.0);
 actual.setAndNormalize((Orientation3DReadOnly) q);
 assertTrue(actual.isUnitary(getEpsilon()));
}

orientation.normalize();

orientation.normalize();

orientation.normalize();
Vector3D angularVelocity = new Vector3D(1.7, 8.4, 2.2);

orientation.normalize();
Vector3D angularVelocity = new Vector3D(1.7, 8.4, 2.2);
pointForVerification.set(3.9, 2.2, 1.1);
quaternionForVerification.set(0.2, 0.6, 1.1, 2.1);
quaternionForVerification.normalize();
linearVelocityForVerification.set(8.8, 1.4, 9.22);
angularVelocityForVerification.set(7.1, 2.2, 3.33);

Point3D position = new Point3D(1.0, 2.1, 3.7);
Quaternion orientation = new Quaternion(new Quaternion(0.1, 0.22, 0.34, 0.56));
orientation.normalize();

Point3D position = new Point3D(1.0, 2.1, 3.7);
Quaternion orientation = new Quaternion(new Quaternion(0.1, 0.22, 0.34, 0.56));
orientation.normalize();

Point3D position = new Point3D(1.0, 2.1, 3.7);
Quaternion orientation = new Quaternion(new Quaternion(0.1, 0.22, 0.34, 0.56));
orientation.normalize();

quatDelta.normalize();

Point3D position = new Point3D(1.0, 2.1, 3.7);
Quaternion orientation = new Quaternion(new Quaternion(0.1, 0.22, 0.34, 0.56));
orientation.normalize();
pointForVerification.set(3.9, 2.2, 1.1);
quaternionForVerification.set(0.2, 0.6, 1.1, 2.1);
quaternionForVerification.normalize();
linearVelocityForVerification.set(8.8, 1.4, 9.22);
angularVelocityForVerification.set(7.1, 2.2, 3.33);

quatDelta.normalize();

orientation.normalize();

orientation.normalize();

Point3D position = new Point3D(1.0, 2.1, 3.7);
Quaternion orientation = new Quaternion(new Quaternion(0.1, 0.22, 0.34, 0.56));
orientation.normalize();

Point3D position = new Point3D(1.0, 2.1, 3.7);
Quaternion orientation = new Quaternion(new Quaternion(0.1, 0.22, 0.34, 0.56));
orientation.normalize();