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fix
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AntonOresten committed May 22, 2024
1 parent 75093c8 commit 97de3ad
Showing 1 changed file with 1 addition and 1 deletion.
2 changes: 1 addition & 1 deletion src/rotational_utils.jl
Original file line number Diff line number Diff line change
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Takes a 3xN matrix of imaginary quaternion components and returns a 4xN matrix of unit quaternions.
"""
function bcds2quats(bcd::AbstractMatrix{T}) where T <: Real
quats = vcat(ones(T, size(bcd, 2)), bcd)
quats = vcat(ones(T, 1, size(bcd, 2)), bcd)
norms = sqrt.(one(T) .+ sum(abs2, bcd, dims=1))
return quats ./ norms
end
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