Template Function pinocchio::quaternion::firstOrderNormalize
Defined in File quaternion.hpp
Function Documentation
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template<typename D>
void pinocchio::quaternion::firstOrderNormalize(const Eigen::QuaternionBase<D> &q) Approximately normalize by applying the first order limited development of the normalization function.
Only additions and multiplications are required. Neither square root nor division are used (except a division by 2). Let
. Using the following limited development:The output is
The output quaternion is guaranted to statisfy the following:
and is the maximum tolerance of .Note
See http://eigen.tuxfamily.org/dox/TopicFunctionTakingEigenTypes.html#title3 to know the reason why the argument is const.
Warning
should already be close to zero.