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Ever since the Irish mathematician William Rowan Hamilton introduced quaternions in the nineteenth century--a feat he celebrated by carving the founding equations into a stone bridge--mathematicians and engineers have been fascinated by these mathematical objects. Today, they are used in applications as various as describing the geometry of spacetime, guiding the Space Shuttle, and developing computer applications in virtual reality. In this book, J. B. Kuipers introduces quaternions for scientists and engineers who have not encountered them before and shows how they can be used in a variety of practical situations. The book is primarily an exposition of the quaternion, a 4-tuple, and its primary application in a rotation operator. But Kuipers also presents the more conventional and familiar 3 x 3 (9-element) matrix rotation operator. These parallel presentations allow the reader to judge which approaches are preferable for specific applications. The volume is divided into three main parts. The opening chapters present introductory material and establish the book's terminology and notation. The next part presents the mathematical properties of quaternions, including quaternion alge

Who reads Quaternions and Rotation Sequences : a Primer with Applications to Orbits, Aerospace, and Virtual Reality?

Author

Jack B. Kuipers

Publisher

Princeton, N.J.: Princeton University Press

Published

1999

Language

EN

ISBN

9780691102986

Category

mathematics

Subjects

Mathematics, Science, Physics

Rating

4.7 / 5 (68 ratings)

Updated

2026-03-14