def from_pose(cls, x, y, z, rx, ry, rz, rw):
    """ Create a normalized dual quaternion from a pose. """
    qr = Quaternion(rx, ry, rz, rw)
    qr.normalize()
    qt = (Quaternion(x, y, z, 0) * qr) * 0.5
    return cls(qr, qt)
 Create a normalized dual quaternion from a pose. 
hand_eye_calibration/python/hand_eye_calibration/dual_quaternion.py