1 ## Copyright (C) 2011 Lukas F. Reichlin
3 ## This program is free software: you can redistribute it and/or modify
4 ## it under the terms of the GNU General Public License as published by
5 ## the Free Software Foundation, either version 3 of the License, or
6 ## (at your option) any later version.
8 ## This program is distributed in the hope that it will be useful,
9 ## but WITHOUT ANY WARRANTY; without even the implied warranty of
10 ## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
11 ## GNU General Public License for more details.
13 ## You should have received a copy of the GNU General Public License
14 ## along with this program. If not, see <http://www.gnu.org/licenses/>.
17 ## @deftypefn {Function File} {@var{qn} =} unit (@var{q})
18 ## Normalize quaternion to length 1 (unit quaternion).
21 ## q = w + x*i + y*j + z*k
22 ## unit (q) = q ./ sqrt (w.^2 + x.^2 + y.^2 + z.^2)
26 ## Author: Lukas Reichlin <lukas.reichlin@gmail.com>
27 ## Created: November 2011