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Draft: Add validity checks for quaternions at the API boundary

sagnowskirequested to merge
float-1529-validate-quaternions-at-api-boundary into main
  • Related issues: #1529
  • Requested reviewers: @tamarapu - feel free to pass on to someone else

Reason why this change is needed

The codec does not detect when invalid (non-unit) quaternions are passed to the API. Execution simply continues, leading to broken outputs.

Description of the change

All API functions that take a quaternion as an input now check its validity.

Affected operating points

  • Expected to be bit-exact for valid inputs

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