Chapters in this book

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