pypose.quat2unit¶
- pypose.quat2unit(input, eps=1e-12)[source]¶
Normalize the quaternion part of a
LieTensor, which has to be a Lie group. If input is a not a Lie group, then do nothing and return the input. If the quaternion parts contain pure zeros, then raise an error.The quaternion parts \(v\) are normalized as
\[v = \frac{v}{\max(\lVert v \rVert_2, \epsilon)}, \]where \(\epsilon\) is a small value to avoid division by zero
- Parameters:
input (
LieTensor) – input LieTensor of any type and shape.eps (
float) – small value to avoid division by zero. Default: 1e-12.
- Returns:
the output LieTensor.
- Return type:
