.. _exhale_function_math_2quaternion_8hpp_1a3b92ee3536dc347822f8ba9d764d8d3b:

Template Function pinocchio::quaternion::firstOrderNormalize
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- Defined in :ref:`file_include_pinocchio_math_quaternion.hpp`


Function Documentation
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.. doxygenfunction:: pinocchio::quaternion::firstOrderNormalize(const Eigen::QuaternionBase<D>&)
   :project: pinocchio Doxygen Project