quatnormalize

Normalize quaternion

Syntax

n = quatnormalize(q)

Description

n = quatnormalize(q) calculates the normalized quaternion, n, for a given quaternion, q. Input q is an m-by-4 matrix containing m quaternions. n returns an m-by-4 matrix of normalized quaternions. Each element of q must be a real number. Additionally, q has its scalar number as the first column.

The quaternion has the form of

q=q0+iq1+jq2+kq3

The normalized quaternion has the form of

normal(q)=q0+iq1+jq2+kq3q02+q12+q22+q32

Examples

Normalize q = [1 0 1 0]:

normal = quatnormalize([1 0 1 0])


normal =

    0.7071         0    0.7071         0

References

[1] Stevens, Brian L., Frank L. Lewis, Aircraft Control and Simulation, Wiley–Interscience, 2nd Edition.

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