Commit b6c3684b by Joseph Mirabel Committed by Joseph Mirabel

### [Doc] Add doc for firstOrderNormalize

parent ded514db
 ... ... @@ -65,7 +65,13 @@ namespace se3 /// of the normalization function. /// /// Only additions and multiplications are required. Neither square root nor /// division are used (except a division by 2). /// division are used (except a division by 2). Let \f$\delta = ||q||^2 - 1 \f$. /// Using the following limited development: /// \f[ \frac{1}{||q||} = (1 + \delta)^{-\frac{1}{2}} = 1 - \frac{\delta}{2} + \mathcal{O}(\delta^2) \f] /// /// The output is /// \f[ q_{out} = q \times \frac{3 - ||q_{in}||^2}{2} \f] /// /// The output quaternion is guaranted to statisfy the following: /// \f[ | ||q_{out}|| - 1 | \le \frac{M}{2} ||q_{in}|| ( ||q_{in}||^2 - 1 )^2 \f] /// where \f$M = \frac{3}{4} (1 - \epsilon)^{-\frac{5}{2}} \f$ ... ...
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