unit

Specification

Location	Author	Maintained by
isl/math/quaternion.py	Kenny Erleben	DIKU

The norm (or length) of a quaternion is defined by

$\|q\| = \sqrt{q \cdot q}$

A quaternion, with norm equal to 1, is called a unit quaterion. If we have the unit quaternion,

$\|n\| = \[cos(\theta), n \cdot sin(\theta)\]$

the it represents a rotation of 2 theta radians around the normalized axis n.

    quaternion      = quat.make(1,2,3,4)
    quaternion_unit = quat.unit(quaternion)
    print(quaternion_unit)

output:

   array([0.18257419, 0.36514837, 0.54772256, 0.73029674])