def METHOD_NAME(v):
  """Normalizes a vector or quaternion
  v -- geometry_msgs Vector3, Point, or Quaternion
  returns the normalized version of v
  """
  n = norm(v)
  assert(n != 0)
  if hasattr(v, 'w'):
    return type(v)(v.x / n, v.y / n, v.z / n, v.w / n)
  else:
    return type(v)(v.x / n, v.y / n, v.z / n)