XLII. Notes on quaternions

Some Notes on Unit Quaternions and Rotation

Visualizing Quaternions Course Notes for SIGGRAPH ’99 Course Organizer

This tutorial focuses on establishing an intuitive visual understanding of the relationship between ordinary 3D rotations and their quaternion representations. We begin building this intuition by showing how quaternion-like properties appear and can be exploited even in 2D space. Quaternions are then introduced in several alternative representations that do not necessarily require abstract math...

ON QUATERNIONS By

Xlii. Some Esters of Palmitic Acid

Understanding quaternions

The invention of the calculus of quaternions is a step towards the knowledge of quantities related to space which can only be compared for its importance with the invention of triple coordinates by Descartes. The ideas of this calculus, as distinguished from its operations and symbols, are fitted to be of the greatest use in all parts of science.-Clerk Maxwell, 1869. Quaternions came from Hamil...