##############################################################################
#The MIT License (MIT)
#
#Copyright (c) 2018 IBM Corporation, Carnegie Mellon University and others
#
#Permission is hereby granted, free of charge, to any person obtaining a copy
#of this software and associated documentation files (the "Software"), to deal
#in the Software without restriction, including without limitation the rights
#to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
#copies of the Software, and to permit persons to whom the Software is
#furnished to do so, subject to the following conditions:
#
#The above copyright notice and this permission notice shall be included in all
#copies or substantial portions of the Software.
#
#THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
#IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
#FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
#AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
#LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
#OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
#SOFTWARE.
##############################################################################

import numpy as np

#
# This function is for making training easier
#
# set norm of quaternion as 1
# set quaternion to northern hemisphere
#
def preprocess_quaternion(quat):
        if len(quat)!=4:
                print "invalid input quaternion"
                sys.exit()
        np_quat = np.array(quat)
        norm_quat = np.linalg.norm(np_quat)
        np_quat = np_quat / norm_quat
        if quat[0]<0:
                np_quat = np_quat * -1.0
        return np_quat.tolist()

##############################################################################
#The MIT License (MIT)
#
#Copyright (c) 2018 IBM Corporation, Carnegie Mellon University and others
#
#Permission is hereby granted, free of charge, to any person obtaining a copy
#of this software and associated documentation files (the "Software"), to deal
#in the Software without restriction, including without limitation the rights
#to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
#copies of the Software, and to permit persons to whom the Software is
#furnished to do so, subject to the following conditions:
#
#The above copyright notice and this permission notice shall be included in all
#copies or substantial portions of the Software.
#
#THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
#IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
#FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
#AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
#LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
#OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
#SOFTWARE.
##############################################################################

import numpy as np

#
# This function is for making training easier
#
# set norm of quaternion as 1
# set quaternion to northern hemisphere
#
def preprocess_quaternion(quat):
        if len(quat)!=4:
                print "invalid input quaternion"
                sys.exit()
        np_quat = np.array(quat)
        norm_quat = np.linalg.norm(np_quat)
        np_quat = np_quat / norm_quat
        if quat[0]<0:
                np_quat = np_quat * -1.0
        return np_quat.tolist()

############################################################################## #The MIT License (MIT) # #Copyright (c) 2018 IBM Corporation, Carnegie Mellon University and others # #Permission is hereby granted, free of charge, to any person obtaining a copy #of this software and associated documentation files (the "Software"), to deal #in the Software without restriction, including without limitation the rights #to use, copy, modify, merge, publish, distribute, sublicense, and/or sell #copies of the Software, and to permit persons to whom the Software is #furnished to do so, subject to the following conditions: # #The above copyright notice and this permission notice shall be included in all #copies or substantial portions of the Software. # #THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR #IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, #FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE #AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER #LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, #OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE #SOFTWARE. ############################################################################## # # This function is for making training easier # # set norm of quaternion as 1 # set quaternion to northern hemisphere #