dual_quat_normalize — Normalize a dual quaternion.
The operator dual_quat_normalize normalizes the input dual quaternion DualQuaternion and returns the normalized dual quaternion, which is also called a unit dual quaternion, in DualQuaternionNormalized.
For a brief introduction to dual quaternions, the used notation, and the relationship between dual quaternions and screws, see the documentation of this chapter (Transformations / Dual Quaternions).
The norm of a unit dual quaternion is 1, i.e., . This is equivalent to the following two conditions:
A 3D rigid transformation can be represented by a unit dual quaternion.
If the norm of the real part of DualQuaternion is 0, dual_quat_normalize returns the error code 9310 (H_ERR_DQ_ZERO_NORM) because in this case no normalization is possible.
Unit dual quaternion.
Normalized dual quaternion.
dual_quat_interpolate, pose_to_dual_quat, screw_to_dual_quat, dual_quat_to_screw, dual_quat_to_pose, dual_quat_conjugate, serialize_dual_quat, deserialize_dual_quat, dual_quat_trans_line_3d, quat_normalize