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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 ...
In mathematics, a quaternion algebra over a field F is a central simple algebra A over F [1] [2] that has dimension 4 over F.Every quaternion algebra becomes a matrix algebra by extending scalars (equivalently, tensoring with a field extension), i.e. for a suitable field extension K of F, is isomorphic to the 2 × 2 matrix algebra over K.
Like rotation matrices, quaternions must sometimes be renormalized due to rounding errors, to make sure that they correspond to valid rotations. The computational cost of renormalizing a quaternion, however, is much less than for normalizing a 3 × 3 matrix. Quaternions also capture the spinorial character of rotations in three dimensions.
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:
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.
The Cayley–Dickson construction defines a new algebra as a Cartesian product of an algebra with itself, with multiplication defined in a specific way (different from the componentwise multiplication) and an involution known as conjugation. The product of an element and its conjugate (or sometimes the square root of this product) is called the ...
The even subalgebra, that is the algebra consisting of scalars and bivectors, is isomorphic to the quaternions, H. This can be seen by comparing the basis to the quaternion basis, or from the above product which is identical to the quaternion product, except for a change of sign which relates to the negative products in the bivector scalar ...
A dual quaternion can be represented in the form A + εB, where A and B are ordinary quaternions and ε is the dual unit, which satisfies ε 2 = 0 and commutes with every element of the algebra. Unlike quaternions, the dual quaternions do not form a division algebra.