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Actually, you can get angle if (a²+b²+c²+d²)>1 (not saying it is meaningfull, but numerically doable). All you need is abs(a)<1, since the acos is applied on "a" (assuming a,b,c,d is w,x,y,z, like in eigen's ordering).- you cannot have an angle if a2+b2+c2+d2 is different from one.then the norm of the quaternion you suggest is slightly different from 1 (of course not a lot, but a little...)
Bruno
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