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- <div class="titlepage"><div><div><h2 class="title" style="clear: both">
- <a name="math_toolkit.quat_overview"></a><a class="link" href="quat_overview.html" title="Overview">Overview</a>
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- <p>
- Quaternions are a relative of complex numbers.
- </p>
- <p>
- Quaternions are in fact part of a small hierarchy of structures built upon
- the real numbers, which comprise only the set of real numbers (traditionally
- named <span class="emphasis"><em><span class="bold"><strong>R</strong></span></em></span>), the set of
- complex numbers (traditionally named <span class="emphasis"><em><span class="bold"><strong>C</strong></span></em></span>),
- the set of quaternions (traditionally named <span class="emphasis"><em><span class="bold"><strong>H</strong></span></em></span>)
- and the set of octonions (traditionally named <span class="emphasis"><em><span class="bold"><strong>O</strong></span></em></span>),
- which possess interesting mathematical properties (chief among which is the
- fact that they are <span class="emphasis"><em>division algebras</em></span>, <span class="emphasis"><em>i.e.</em></span>
- where the following property is true: if <span class="emphasis"><em><code class="literal">y</code></em></span>
- is an element of that algebra and is <span class="bold"><strong>not equal to zero</strong></span>,
- then <span class="emphasis"><em><code class="literal">yx = yx'</code></em></span>, where <span class="emphasis"><em><code class="literal">x</code></em></span>
- and <span class="emphasis"><em><code class="literal">x'</code></em></span> denote elements of that algebra,
- implies that <span class="emphasis"><em><code class="literal">x = x'</code></em></span>). Each member of
- the hierarchy is a super-set of the former.
- </p>
- <p>
- One of the most important aspects of quaternions is that they provide an efficient
- way to parameterize rotations in <span class="emphasis"><em><span class="bold"><strong>R<sup>3</sup></strong></span></em></span>
- (the usual three-dimensional space) and <span class="emphasis"><em><span class="bold"><strong>R<sup>4</sup></strong></span></em></span>.
- </p>
- <p>
- In practical terms, a quaternion is simply a quadruple of real numbers (α,β,γ,δ),
- which we can write in the form <span class="emphasis"><em><code class="literal">q = α + βi + γj + δk</code></em></span>,
- where <span class="emphasis"><em><code class="literal">i</code></em></span> is the same object as for complex
- numbers, and <span class="emphasis"><em><code class="literal">j</code></em></span> and <span class="emphasis"><em><code class="literal">k</code></em></span>
- are distinct objects which play essentially the same kind of role as <span class="emphasis"><em><code class="literal">i</code></em></span>.
- </p>
- <p>
- An addition and a multiplication is defined on the set of quaternions, which
- generalize their real and complex counterparts. The main novelty here is that
- <span class="bold"><strong>the multiplication is not commutative</strong></span> (i.e.
- there are quaternions <span class="emphasis"><em><code class="literal">x</code></em></span> and <span class="emphasis"><em><code class="literal">y</code></em></span>
- such that <span class="emphasis"><em><code class="literal">xy ≠ yx</code></em></span>). A good mnemotechnical
- way of remembering things is by using the formula <span class="emphasis"><em><code class="literal">i*i =
- j*j = k*k = -1</code></em></span>.
- </p>
- <p>
- Quaternions (and their kin) are described in far more details in this other
- <a href="../../quaternion/TQE.pdf" target="_top">document</a> (with <a href="../../quaternion/TQE_EA.pdf" target="_top">errata
- and addenda</a>).
- </p>
- <p>
- Some traditional constructs, such as the exponential, carry over without too
- much change into the realms of quaternions, but other, such as taking a square
- root, do not.
- </p>
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- Agrawal, Anton Bikineev, Paul A. Bristow, Marco Guazzone, Christopher Kormanyos,
- Hubert Holin, Bruno Lalande, John Maddock, Jeremy Murphy, Matthew Pulver, Johan
- Råde, Gautam Sewani, Benjamin Sobotta, Nicholas Thompson, Thijs van den Berg,
- Daryle Walker and Xiaogang Zhang<p>
- Distributed under the Boost Software License, Version 1.0. (See accompanying
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