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Luc Maisonobe resolved MATH-801. -------------------------------- Resolution: Fixed Fix Version/s: 3.1 Fixed in subversion repository as of r1346513. Thanks for the report. > Quaternion not normalized after construction > -------------------------------------------- > > Key: MATH-801 > URL: https://issues.apache.org/jira/browse/MATH-801 > Project: Commons Math > Issue Type: Bug > Affects Versions: 3.0 > Reporter: DI COSTANZO > Fix For: 3.1 > > Attachments: RotationNotNormalised.txt > > > The use of the Rotation(Vector3D u1,Vector3D u2,Vector3D v1,Vector3D v2) > constructor with normalized angle can apparently lead to un-normalized > quaternion. > This case appeared to me with the following data : > u1 = (0.9999988431610581, -0.0015210774290851095, 0.0) > u2 = (0.0, 0.0, 1.0) > and > v1 = (0.9999999999999999, 0.0, 0.0) > v2 = (0.0, 0.0, -1.0) > This lead to the following quaternion : > q0 = 225783.35177064248 > q1 = 0.0 > q2 = 0.0 > q3 = -3.3684446110762543E-9 > I was expecting to have a normalized quaternion, as input vector's are > normalized. Does the quaternion shouldn't be normalized ? > I've joined the corresponding piece of code as JUnit Test case -- This message is automatically generated by JIRA. If you think it was sent incorrectly, please contact your JIRA administrators: https://issues.apache.org/jira/secure/ContactAdministrators!default.jspa For more information on JIRA, see: http://www.atlassian.com/software/jira