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Date: Tue, 5 Jun 2012 09:31:22 +0000 (UTC)
From: "DI COSTANZO (JIRA)" <jira@apache.org>
To: issues@commons.apache.org
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Subject: [jira] [Created] (MATH-801) Quaternion not normalized after
 construction
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DI COSTANZO created MATH-801:
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             Summary: 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


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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