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From "DI COSTANZO (JIRA)" <j...@apache.org>
Subject [jira] [Updated] (MATH-801) Quaternion not normalized after construction
Date Tue, 05 Jun 2012 09:33:23 GMT

     [ 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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