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

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

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

Introduced 160 years ago as an attempt to generalize complex numbers to higher dimensions, quaternions are now recognized as one of the most important concepts