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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.
The formulae for the multiplication of quaternions are implicit in the four squares formula devised by Leonhard Euler in 1748. In 1840, Olinde Rodrigues used spherical trigonometry and developed a formula closely related to quaternion multiplication in order to describe the new axis and angle of two combined rotations. [3] [4]: 9
In mathematics education, there was a debate on the issue of whether the operation of multiplication should be taught as being a form of repeated addition.Participants in the debate brought up multiple perspectives, including axioms of arithmetic, pedagogy, learning and instructional design, history of mathematics, philosophy of mathematics, and computer-based mathematics.
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.
Multiplication of a scalar and a vector was accomplished with the same single multiplication operator; multiplication of two vectors of quaternions used this same operation as did multiplication of a quaternion and a vector or of two quaternions.
Cayley Q8 graph of quaternion multiplication showing cycles of multiplication of i (red), j (green) and k (blue). In the SVG file, hover over or click a path to highlight it. The next step in the construction is to generalize the multiplication and conjugation operations. Form ordered pairs (a, b) of complex numbers a and b, with multiplication ...
Cayley Q8 graph of quaternion multiplication showing cycles of multiplication of i (red), j (green) and k (blue). In the SVG file, hover over or click a path to highlight it. All of the Clifford algebras Cl p , q ( R {\displaystyle \mathbb {R} } ) apart from the real numbers, complex numbers and the quaternions contain non-real elements that ...
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.