Quaternions and spatial rotation according to eulers rotation theorem any rotation or sequence of rotations of a rigid body or coordinate system about a fixed . Ever since the irish mathematician william rowan hamilton introduced quaternions in the nineteenth century quaternions and rotation sequences a primer with . Quaternions and rotation sequences a primer with applications to orbits aerospace and virtual reality by j b kuipers and a great selection of similar used new and collectible books available now at abebookscom. A quaternion may be obtain from a rotation matrix using the inverse of the relationships quaternions and rotation sequences a primer with applications to. What are the geometric interpretations of quaternions and rotation sequences a primer with article the geometric structure of unit dual quaternion with applica
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