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Is there an equivalent function to assertQuaternionValid()in tf2? I suppose I could just re-implement the source code for the function using tf2 equivalents? http://docs.ros.org/en/diamondback/ap...
In general with tf2 it's recommended to use a native linear math library which has an internal representation of the quaternion and as such should have logic for normalizing and checking the normalization of the quaternion. The API of tf2 is specifically scoped down to be specific to the buffer etc and not random linear math problem.
Re: why normalized. @Mike Scheutzow the reason to rejecting storing non-normalized quaterions into the storage is because they can effect future computations in ways that are untraceable to users. You can find more info at https://stackoverflow.com/questions/1...
@tfoote Thank you for the interesting link. I learned some new things about quaternions.
Asked: 2021-09-18 22:59:01 -0500
Seen: 188 times
Last updated: Sep 20 '21
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There is a thread that may be interesting to you:
https://github.com/ros/geometry2/pull...
I'm having trouble understanding this idea that a calculation should be refused because the quaternion is slightly un-normalized. It seems reasonable to log a warning if you think that characteristic is important, but by my thinking you should proceed with the calculation anyway.