Book of Donmon Teith

This self-contained text presents a consistent description of the geometric and quaternionic treatment of rotation operators, employing methods that lead to a r

The book is an exposition of the quaternion, a 4-tuple, and its primary application in a rotation operator. But Kuipers also presents the more conventional and

Ever since the Irish mathematician William Rowan Hamilton introduced quaternions in the nineteenth century--a feat he celebrated by carving the founding equatio

Introduced 160 years ago as an attempt to generalize complex numbers to higher dimensions, quaternions are now recognized as one of the most important concepts

"Quaternions are members of a noncommutative division algebra first invented by William Rowan Hamilton. They form an interesting algebra where each object conta