stack-of-tasks · jcarpent · Feb 22, 2022 · Feb 22, 2022 · Feb 22, 2022
diff --git a/include/eigenpy/quaternion.hpp b/include/eigenpy/quaternion.hpp
@@ -185,16 +185,19 @@ namespace eigenpy
            "Returns the quaternion describing the inverse rotation.")
       .def("setIdentity",&Quaternion::setIdentity,
            bp::arg("self"),
-           "Set *this to the idendity rotation.",bp::return_self<>())
+           "Set *this to the identity rotation.",
+           bp::return_self<>())
       .def("norm",&Quaternion::norm,
            bp::arg("self"),
            "Returns the norm of the quaternion's coefficients.")
       .def("normalize",&Quaternion::normalize,
            bp::arg("self"),
-           "Normalizes the quaternion *this.")
-      .def("normalized",&Quaternion::normalized,
+           "Normalizes the quaternion *this.",
+           bp::return_self<>())
+      .def("normalized",&normalized,
            bp::arg("self"),
-           "Returns a normalized copy of *this.")
+           "Returns a normalized copy of *this.",
+           bp::return_value_policy<bp::manage_new_object>())
       .def("squaredNorm",&Quaternion::squaredNorm,
            bp::arg("self"),
            "Returns the squared norm of the quaternion's coefficients.")
@@ -251,6 +254,11 @@ namespace eigenpy
       ;
     }
   private:
+
+    static Quaternion * normalized(const Quaternion & self)
+    {
+      return new Quaternion(self.normalized());
+    }
 
     template<int i>
     static void setCoeff(Quaternion & self, Scalar value) { self.coeffs()[i] = value; }

diff --git a/src/quaternion.cpp b/src/quaternion.cpp
@@ -1,14 +1,17 @@
 /*
  * Copyright 2014-2019, CNRS
- * Copyright 2018-2019, INRIA
+ * Copyright 2018-2022, INRIA
  */
 
 #include "eigenpy/memory.hpp"
 #include "eigenpy/geometry.hpp"
-#include "eigenpy/quaternion.hpp"
+
+#include <Eigen/Geometry>
 
 EIGENPY_DEFINE_STRUCT_ALLOCATOR_SPECIALIZATION(Eigen::Quaterniond)
 
+#include "eigenpy/quaternion.hpp"
+
 namespace eigenpy
 {
   void exposeQuaternion()