EigenQuaternionParameterisation does not preserve unit magnitude

[dr.a.k...@gmail.com]

Hi

As per the title, setting a 4-block as EigenQuaternionParameterisation does not preserve the magnitude of this 4-vector as 1.

Is this expected/designed behaviour, or is it a bug?

Thanks

[1262871536]

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[dr.a.k...@gmail.com]

Ahh - it seems to preserve whatever magnitude was sent in. Maybe this is the expected behaviour?

I note that initialising an Eigen::Quaterniond via a rotation matrix does not guarantee a unit quaternion!

[1262871536]

[Sameer Agarwal]

That's a bug in Eigen. It should produce a unit quaternion.

Sameer 

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