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Quaternions and Rotation Sequences: A Primer with Applications to Orbits, Aeorspace and Virtual Reality
2002 || Paperback || J.B. Kuipers || Princeton University Press
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 scie...