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There are at least two ways of representing quaternions as matrices in such a way that quaternion addition and multiplication correspond to matrix addition and matrix multiplication. One is to use 2 × 2 complex matrices, and the other is to use 4 × 4 real matrices. In each case, the representation given is one of a family of linearly related ...
3D visualization of a sphere and a rotation about an Euler axis (^) by an angle of In 3-dimensional space, according to Euler's rotation theorem, any rotation or sequence of rotations of a rigid body or coordinate system about a fixed point is equivalent to a single rotation by a given angle about a fixed axis (called the Euler axis) that runs through the fixed point. [6]
A direct formula for the conversion from a quaternion to Euler angles in any of the 12 possible sequences exists. [2] For the rest of this section, the formula for the sequence Body 3-2-1 will be shown. If the quaternion is properly normalized, the Euler angles can be obtained from the quaternions via the relations:
Such functions can be called functions of a quaternion variable just as functions of a real variable or a complex variable are called. As with complex and real analysis , it is possible to study the concepts of analyticity , holomorphy , harmonicity and conformality in the context of quaternions.
which is a quaternion of unit length (or versor) since ‖ ‖ = + + + = Most importantly, the above equations for composition of rotations are precisely the equations for multiplication of quaternions =. In other words, the group of unit quaternions with multiplication, modulo the negative sign, is isomorphic to the group of rotations with ...
Each quaternion has a tensor, which is a measure of its magnitude (in the same way as the length of a vector is a measure of a vectors' magnitude). When a quaternion is defined as the quotient of two vectors, its tensor is the ratio of the lengths of these vectors.
The quaternion group has the unusual property of being Hamiltonian: Q 8 is non-abelian, but every subgroup is normal. [4] Every Hamiltonian group contains a copy of Q 8. [5] The quaternion group Q 8 and the dihedral group D 4 are the two smallest examples of a nilpotent non-abelian group.
As a quaternion consists of two independent complex numbers, they form a four-dimensional vector space over the real numbers. The multiplication of quaternions is not quite like the multiplication of real numbers, though; it is not commutative – that is, if p and q are quaternions, it is not always true that pq = qp.