main/src/georegression/struct/so/Quaternion_F64.java
public void normalize() {
		double n = Math.sqrt( w * w + x * x + y * y + z * z);

		w /= n;
		x /= n;
		y /= n;
		z /= n;
	}
public void normalize() {
		double n = Math.sqrt( w * w + x * x + y * y + z * z);

		w /= n;
		x /= n;
		y /= n;
		z /= n;
	}
Converts the quaternion into a unit quaternion.