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Check if the squared scalar part of the quaternion is close to 1. #80

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Check if the squared scalar part of the quaternion is close to 1. #80

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9 changes: 5 additions & 4 deletions hand_eye_calibration/python/hand_eye_calibration/quaternion.py
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Original file line number Diff line number Diff line change
Expand Up @@ -138,13 +138,14 @@ def angle_axis(self):
The output format is np.array([x, y, z, angle]).
"""
# If there is no rotation return rotation about x-axis with zero angle.
if np.isclose(self.w, 1., atol=1.e-12):
w_squared = self.w * self.w
if np.isclose(w_squared, 1., atol=1.e-12):
return(np.array([1., 0., 0., 0.]))

angle = 2. * np.arccos(self.w)
x = self.x / np.sqrt(1. - self.w * self.w)
y = self.y / np.sqrt(1. - self.w * self.w)
z = self.z / np.sqrt(1. - self.w * self.w)
x = self.x / np.sqrt(1. - w_squared)
y = self.y / np.sqrt(1. - w_squared)
z = self.z / np.sqrt(1. - w_squared)
return np.array([x, y, z, angle])

def copy(self):
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