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    <div class="moz-cite-prefix">+1<br>

      Since Orientation is a Eigen::Quaternion we could even use the

      norm() method.<br>

      <br>

      Javier.<br>

      <br>

      <table class="memname">

        <tbody>

          <tr>

            <td class="memname"><a class="el"

href="http://eigen.tuxfamily.org/dox/classEigen_1_1QuaternionBase.html#a844358c46408e878e60c4026c52eb1e9">Scalar</a>

              norm </td>

            <td>(</td>

            <td class="paramname"><br>

            </td>

            <td>)</td>

            <td> const<code> [inline]</code></td>

          </tr>

        </tbody>

      </table>

      <div class="memdoc">

        <dl class="return">

          <dt><b>Returns:</b></dt>

          <dd>the norm of the quaternion's coefficients </dd>

        </dl>

        <dl class="see">

          <dt><b>See also:</b></dt>

          <dd><a class="el"

href="http://eigen.tuxfamily.org/dox/classEigen_1_1QuaternionBase.html#a8699d72c996ca6cb4673e810fe3a616c">QuaternionBase::squaredNorm()</a>,

            <a class="el"

href="http://eigen.tuxfamily.org/dox/classEigen_1_1MatrixBase.html#a0be1b433c65ce9d92c81a4718daf54e5">MatrixBase::norm()</a>

          </dd>

        </dl>

      </div>

      <br>

      On 06/29/2012 04:53 PM, Alexander Duda wrote:<br>

    </div>

    <blockquote cite="mid:4FEDC16F.7050503@dfki.de" type="cite">

      <pre wrap="">Hi,

the base type samples::RigidBodyState has a function to check if the 

orientation is valid.

At the moment it only checks if the values of the quaternion 

representing the orientation are different to NaN.

I propose that we also add a check that the quaternion is an unit 

quaternion because otherwise wrongly initialised orientations might lead 

to strange transformation matrices and vanishing objects in OSG.

Any opinions?

Alex

         static bool isValidValue(base::Orientation const&amp; ori)

         {

             return !base::isNaN(ori.w()) &amp;&amp;

                 !base::isNaN(ori.x()) &amp;&amp;

                 !base::isNaN(ori.y()) &amp;&amp;

                 !base::isNaN(ori.z()) &amp;&amp;

ori.w()*ori.w()+ori.x()*ori.x()+ori.y()*ori.y()+ori.z()*ori.z()-1e6 &lt; 1;

         }

</pre>

    </blockquote>

    <br>

    <br>

    <pre class="moz-signature" cols="72">-- 

Javier Hidalgo Carri&oacute;

ESA - NPI Programme

Researcher

DFKI Bremen

Robotics Innovation Center

Robert-Hooke-Stra&szlig;e 5

28359 Bremen, Germany

<a class="moz-txt-link-freetext" href="http://robotik.dfki-bremen.de">http://robotik.dfki-bremen.de</a>

Phone:+49(0)421 17845 6661

Fax: +49(0)421 17845 4150

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