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Posted to issues@commons.apache.org by "DI COSTANZO (JIRA)" <ji...@apache.org> on 2012/06/05 11:33:23 UTC
[jira] [Updated] (MATH-801) Quaternion not normalized after
construction
[ https://issues.apache.org/jira/browse/MATH-801?page=com.atlassian.jira.plugin.system.issuetabpanels:all-tabpanel ]
DI COSTANZO updated MATH-801:
-----------------------------
Attachment: RotationNotNormalised.txt
> Quaternion not normalized after construction
> --------------------------------------------
>
> Key: MATH-801
> URL: https://issues.apache.org/jira/browse/MATH-801
> Project: Commons Math
> Issue Type: Bug
> Affects Versions: 3.0
> Reporter: DI COSTANZO
> Attachments: RotationNotNormalised.txt
>
>
> The use of the Rotation(Vector3D u1,Vector3D u2,Vector3D v1,Vector3D v2) constructor with normalized angle can apparently lead to un-normalized quaternion.
> This case appeared to me with the following data :
> u1 = (0.9999988431610581, -0.0015210774290851095, 0.0)
> u2 = (0.0, 0.0, 1.0)
> and
> v1 = (0.9999999999999999, 0.0, 0.0)
> v2 = (0.0, 0.0, -1.0)
> This lead to the following quaternion :
> q0 = 225783.35177064248
> q1 = 0.0
> q2 = 0.0
> q3 = -3.3684446110762543E-9
> I was expecting to have a normalized quaternion, as input vector's are normalized. Does the quaternion shouldn't be normalized ?
> I've joined the corresponding piece of code as JUnit Test case
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