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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 ...
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.
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.
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:
Now for any quaternion vector p, p* = −p, let q = 1 + pε ∈ F, where the required rotation and translation are effected. Evidently the group of units of the ring of dual quaternions is a Lie group. A subgroup has Lie algebra generated by the parameters a r and b s, where a, b ∈ R, and r, s ∈ H. These six parameters generate a subgroup ...
The quaternion a + bi + cj + dk can be represented as the 2×2 complex matrix [ a + b i c + d i − c + d i a − b i ] . {\displaystyle {\begin{bmatrix}~~a+bi&c+di\\-c+di&a-bi\end{bmatrix}}.} This defines a map Ψ mn from the m by n quaternionic matrices to the 2 m by 2 n complex matrices by replacing each entry in the quaternionic matrix by ...
In mathematics, quaternionic analysis is the study of functions with quaternions as the domain and/or range. Such functions can be called functions of a quaternion variable just as functions of a real variable or a complex variable are called.
Hamilton invented the term scalars for the real numbers, because they span the "scale of progression from positive to negative infinity" [3] or because they represent the "comparison of positions upon one common scale". [4] Hamilton regarded ordinary scalar algebra as the science of pure time. [5]