def canonize(self):
"""Makes the quaternion canonic.
Examples
--------
>>> from compas.geometry import Frame
>>> q = Quaternion.from_frame(Frame.worldZX())
>>> q
Quaternion(-0.500, 0.500, 0.500, 0.500)
>>> q.canonize()
>>> q
Quaternion(0.500, -0.500, -0.500, -0.500)
"""
qc = quaternion_canonize(self)
self.w, self.x, self.y, self.z = qc
def canonized(self):
"""Returns a quaternion in canonic form.
Returns
-------
:class:`compas.geometry.Quaternion`
A quaternion in canonic form.
Examples
--------
>>> from compas.geometry import Frame
>>> q = Quaternion.from_frame(Frame.worldZX())
>>> q
Quaternion(-0.500, 0.500, 0.500, 0.500)
>>> p = q.canonized()
>>> p
Quaternion(0.500, -0.500, -0.500, -0.500)
"""
qc = quaternion_canonize(self)
return Quaternion(*qc)
def canonized(self):
"""Returns a :obj:`Quaternion` in a canonic form.
"""
qc = quaternion_canonize(self)
return Quaternion(*qc)
def canonize(self):
"""Makes the quaternion canonic.
"""
qc = quaternion_canonize(self)
self.w, self.x, self.y, self.z = qc
