im_web_interface: Quaternion.js has now a norm() function

RobotWebTools · Mar 6, 2015 · 9d695ae · 9d695ae
1 parent c397214
commit 9d695ae
Showing 1 changed file with 8 additions and 1 deletion.
diff --git a/src/math/Quaternion.js b/src/math/Quaternion.js
@@ -29,6 +29,13 @@ Quaternion.prototype.conjugate = function() {
   this.z *= -1;
 };
 
+/**
+ * Return the norm of this quaternion.
+ */
+Quaternion.prototype.norm = function() {
+  return Math.sqrt(this.x * this.x + this.y * this.y + this.z * this.z + this.w * this.w);
+};
+
 /**
  * Perform a normalization on this quaternion.
  */
@@ -81,4 +88,4 @@ Quaternion.prototype.clone = function() {
   return new Quaternion(this);
 };
 
-module.exports = Quaternion;
+module.exports = Quaternion;