Dual Quaternion
نویسنده
چکیده
As we know, quaternions are very efficient for representing rotations with clear geometric meaning (rotation axis and angle) and only one redundancy. Unfortunately, they do not handle translations, which meanwhile can be made multiplicative along with rotations via the use of homogeneous coordinates. Despite also being 4-tuples, homogeneous coordinates are algebraically incompatible with quaternions. In 1873, dual quaternions were introduced by William Kingdom Clifford [1] in an effort to combine rotations and translations while retaining the benefits of the quaternion representation of rotations.
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