normalize

Normalize transformation matrix

Syntax

transformationN = normalize(transformation)

transformationN = normalize(transformation,Method=normMethod)

Description

transformationN = normalize(transformation) normalizes the rotation of the transformation transformation and returns a transformation, transformationN, that is equivalent to transformation, but with normalized rotation.

Note

The transformation objects do not automatically normalize their rotations. You must use normalize each time you need to normalize a transformation. You may need to do this if:

• You specified an unnormalized input transformation at the creation of the transformation object.

• You performed many operations on the transformation objects such as mtimes, *, which may cause the transformation to become unnormalized due to data type precision.

transformationN = normalize(transformation,Method=normMethod) specifies the normalization method normMethod that the normalize function uses to normalize transformation.

Input Arguments

transformation — Transformation

se2 object | se3 object | so2 object | so3 object | M-element array of transformation objects

Transformation, specified as an se2, se3, so2, or so3 object, or as an M-element array of transformation objects. M is the total number of transformations.

If you specify transformation as an array, each element must be of the same type.

Data Types: single | double

normMethod — Normalization method

"quat" (default) | "cross" | "svd"

Normalization method, specified as one of these options:

• "quat" — Convert the rotation submatrix into a normalized quaternion and then convert the normalized quaternion back to a transformation object. For more information, see the normalize of the quaternion object.

• "cross" — Normalize the third column of the rotation submatrix and then determine the other two columns through cross products.

• "svd" — Use singular value decomposition to find the closest orthonormal matrix by setting singular values to 1. This solves the orthogonal Procrustes problem.

Data Types: char | string

Output Arguments

transformationN — Normalized transformation

se2 object | se3 object | so2 object | so3 object

Normalized transformation, returned as an se2, se3, so2, or so3 object.

Tips

Matrices

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Version History

Introduced in R2022b