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normalize as_quat method #4

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normalize as_quat method #4

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2 changes: 2 additions & 0 deletions spatial_casadi/spatial.py
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Original file line number Diff line number Diff line change
Expand Up @@ -354,7 +354,9 @@ def as_quat(self, seq: str = "xyzw") -> ArrayType:
@return A quaternion vector.
"""

self._quat = self._quat/casadi.sqrt(self._quat.T@self._quat)
if seq == "xyzw":
#quaternions requires normalization
return self._quat
elif seq == "wxyz":
x = self._quat[0]
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