# What is the best way to send transform (with scale)?

Hi! I want to transform set of points according to formula s*R.dot(xyz) + t

Because of implementation details i want to make multiplication s*R and send "scaled" rotation via /tf.

But while converting "scaled" rotation (s*R) to quaternions i'm getting TF_DENORMALIZED_QUATERNION error So, the question is: how to scale R properly? Or what is the best way to send transform with scale? P.S. s is a scalar

Have you tried renormalising the quaternion?

Oh, no. I'll try that. Thank you!

I did it. After renormalizing (via

`transformations.union_vector`

) i'm getting wrong result when applying rotation. For now, I decided to created new message type (StampedFloat) and send it separately from R and t transformation.