Table of Contents

List of FiguresAbout This BookAcknowledgements1Historical Matters32Algebraic Preliminaries133Rotations in 3-space454Rotation Sequences in R[superscript 3]775Quaternion Algebra1036Quaternion Geometry1417Algorithm Summary1558Quaternion Factors1779More Quaternion Applications20510Spherical Trigonometry23511Quaternion Calculus for Kinematics and Dynamics25712Rotations in Phase Space27713A Quaternion Process30314Computer Graphics333Further Reading and References365Index367

Promotional Information

The text is written in a clear and readable style well suited for students wishing to master fundamental quaternion concepts. -- Mark C. Allman, Senior Engineer, The Boeing Company This is the most complete discussion of quaternions and their applications that I have seen. -- Alan C. Tribble, author of "A Tribble's Guide to Space"

About the Author

J. B. Kuipers is Professor Emeritus of Mathematics at Calvin College. In addition to publishing papers and research notes on quaternions, he spent seventeen years in the aerospace industry where his work included developing applications of quaternion theory for aerospace systems. He also developed a six-dimensional graphics system and, as a consequence, is regarded by some as the founder of virtual reality.

Reviews

"This book will appeal to anyone with an interest in three-dimensional geometry. It is a competent and comprehensive survey... This book is unique in that it is probably the only modern book to treat quaternions seriously... A valuable asset."--Aeronautical Journal "[A] splendid book ... everything one could wish for in a primer. It is also beautifully set out with an attractive layout, clear diagrams, and wide margins with explanatory notes where appropriate. It must be strongly recommended to all students of physics, engineering or computer science."--Peter Rowlands, Contemporary Physics