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J. B. Kuipers

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Quaternions and Rotation Sequences

This chapter is in the book Quaternions and Rotation Sequences

© 2020 Princeton University Press, Princeton

© 2020 Princeton University Press, Princeton

Chapters in this book

Frontmatter i
Contents ix
List of Figures xv
About This Book xix
Acknowledgements xxi
Chapter 1. Historical Matters 1
Chapter 2. Algebraic Preliminaries 13
Chapter 3. Rotations in 3-space 45
Chapter 4. Rotation Sequences in R3 77
Chapter 5. Quaternion Algebra 103
Chapter 6. Quaternion Geometry 141
Chapter 7. Algorithm Summary 155
Chapter 8. Quaternion Factors 177
Chapter 9. More Quaternion Applications 205
Chapter 10. Spherical Trigonometry 235
Chapter 11. Quaternion Calculus for Kinematics and Dynamics 257
Chapter 12. Rotations in Phase Space 277
Chapter 13. A Quaternion Process 303
Chapter 14. Computer Graphics 333
Further Reading and Some Personal References 365
Index 367

https://doi.org/10.1515/9780691211701-fm

Chapters in this book

Frontmatter i
Contents ix
List of Figures xv
About This Book xix
Acknowledgements xxi
Chapter 1. Historical Matters 1
Chapter 2. Algebraic Preliminaries 13
Chapter 3. Rotations in 3-space 45
Chapter 4. Rotation Sequences in R3 77
Chapter 5. Quaternion Algebra 103
Chapter 6. Quaternion Geometry 141
Chapter 7. Algorithm Summary 155
Chapter 8. Quaternion Factors 177
Chapter 9. More Quaternion Applications 205
Chapter 10. Spherical Trigonometry 235
Chapter 11. Quaternion Calculus for Kinematics and Dynamics 257
Chapter 12. Rotations in Phase Space 277
Chapter 13. A Quaternion Process 303
Chapter 14. Computer Graphics 333
Further Reading and Some Personal References 365
Index 367

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