This text presents a consistent description of the geometric and quaternionic treatment of rotation operators. Covers the fundamentals of symmetries, matrices,

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

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

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

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