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32 lines
1023 B
32 lines
1023 B
%UNIT Unitize a vector
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%
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% VN = UNIT(V) is a unit vector parallel to V.
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%
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% Note::
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% - Reports error for the case where norm(V) is zero.
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% Copyright (C) 1993-2011, by Peter I. Corke
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%
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% This file is part of The Robotics Toolbox for Matlab (RTB).
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%
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% RTB is free software: you can redistribute it and/or modify
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% it under the terms of the GNU Lesser General Public License as published by
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% the Free Software Foundation, either version 3 of the License, or
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% (at your option) any later version.
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%
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% RTB is distributed in the hope that it will be useful,
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% but WITHOUT ANY WARRANTY; without even the implied warranty of
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% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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% GNU Lesser General Public License for more details.
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%
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% You should have received a copy of the GNU Leser General Public License
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% along with RTB. If not, see <http://www.gnu.org/licenses/>.
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function u = unit(v)
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n = norm(v, 'fro');
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if n < eps
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error('RTB:unit:zero_norm', 'vector has zero norm');
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end
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u = v / n;
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