February 2006
Intermediate to advanced
600 pages
8h 57m
English
This appendix presents a family of miscellaneous algorithms and methods we have found useful from time to time.
If we parameterize a quaternion in a simplified way (with 0 ≤ θ < 2π) to cover the entire S3 as
), we can show using the quaternion algebra that this parameterization of S3 follows from the exponential series
The logarithm of a structure is the object that, when exponentiated, produces the generic structure. Hence, we must have
Raising a quaternion to a power is defined via ...