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Chapter 6. Quaternion Geometry
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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
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