quaternion_canonize

compas.geometry.quaternion_canonize(q)

Converts a quaternion into a canonic form if needed.

Parameters:

q[float, float, float, float] | compas.geometry.Quaternion

Quaternion or sequence of four floats [w, x, y, z].

Returns:

[float, float, float, float]

Quaternion in a canonic form as a list of four real values [cw, cx, cy, cz].

See also

quaternion_is_unit

quaternion_norm

quaternion_unitize

quaternion_multiply

quaternion_conjugate

Notes

Canonic form means the scalar component is a non-negative number.