Table of Contents

Part I. Dual Quaternions, 1.1. Algebras and Dual Algebras, 1.2. Algebra, 1.3. Geometry, 1.4. Rigid Motions, 1.5. Rigid Motions as Rotations in 8-Dimensions, 1.6. Screw Linear Interpolation (ScLERP), 1.7. Perspective and Pseudo-Perspective, 1.8. Visualizing Quaternions and Dual Quaternions, 1.9. Matrices versus Dual Quaternions, 1.10. Insights, 1.11. Formulas, Part II. Clifford Algebras for Dual Quaternions, 1. A Brief Review of Clifford Algebra, 2. The Plane Model of Clifford Algebra for Dual Quaternions, 3. The Point Model of Clifford Algebra for Dual Quaternions