# Tagged Questions

For questions about the quaternions: a noncommutative four dimensional division algebra over the real numbers.

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### How do I calculate Jacobian of formula containing quaternions and vectors?

I am facing a problem in robotics where a robot is localized in 3D-space to build up a map simultaneously (see SLAM, e.g. [1]). One approach is to build up a graph of poses $x_i$ and transforms ...
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My task is: "Describe rotation $S \circ R$ by axis and angle, where $R$ is rotation around $(0,1,1)$ by 90 degrees, and $S$ is rotation around $(1,-1,0)$ by 90 degrees." I should use quaternion ...
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### Quaternion - Angle computation using accelerometer and gyroscope

I have been using a 6dof LSM6DS0 IMU unit (with accelerometer and gyroscope). And I am trying to calculate the angle of rotation around all the three axes. I have tried may methods but not getting the ...
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### Extracting the Axis a Quaternion is rotating around from the Quaternion itself Directly

Quaternion has components X, Y, Z, and W. If you created a Quaternion with input being a 3D Vector representing the axis (X,Y,Z) and a floating point number representing the amount to rotate around ...
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### multiplication of quaternions is like complex numbers multiplication?

Suppose $p = z + j w$ where $z = x_0 + i x_1$ and $w = x_2+ix^3$. Let $q = \alpha + j \beta$ where $\alpha = y_1 + i y_2$ and $\beta = y_2 + i y_3$. How can we multiply $p$ and $q$. Is is just like ...
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### calculating the orientation of an object

If you have a rotation matrix (or an attitude/direct cosine matrix, which are all synonyms). This matrix actually transforms vectors from one reference frame to another. But if your goal is to ...
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### What is the $\sqrt{-1}$ when working in a quaternion space?

I dont think I really need to elaborate, do I? If you know what quaternions are then you know there are several imaginary-value options to choose from, or axes, along which the $\sqrt{-1}$ may exist. ...
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### Rotation matrix between two similar cuboids using their upper sides ( and the planes defined by these sides)

I have two different images and with them an estimation of two planes ( defined in the same system). I would like to get the rotation matrix, quaternion or euler angles of a surface within this ...
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### How to rotate in quaternions but for 2d version for arbitrary angle?

I am trying to understand the idea behind rotating in quaternions, but first I want to understand the math for 2d rotation. I saw some youtube videos, and I know that for 2D, a point in 2D can be ...
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### Higher dimensional cross product

I know that cross products do not exist in 4, 5 or 6 dimensions, but do in 7 dimensions. So I was wondering if this was because cross products can be considered the imaginary part of $2^n - ion$ ...
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### Angular velocity computation

Say I have two different unit quaternion $Q1$ and $Q2$ representing two different orientations in 3D space. How can I compute the angular velocity $\omega$ that would produce a rotation from $Q1$ to ...
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### Matrix Algebra over Algebraically Closed Field

In Maclachlan and Reid's The Arithmetic of Hyperbolic 3-Manifolds, when proving that quaternion algebras are simple, they make use of the fact that $M_2(K)$, where $K$ is an algebraically closed ...
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### Is there a relationship between Rotors and the Rodrigues' rotation formula

I am trying to understand quaternion in general, and it seems like the path to making sense of how they actually work is to first understand rotors and other techniques related to rotations. By ...
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### Rotors/Quaternions: double reflection question

I am trying to learn/understand quaternion. I found this reference (among many others): http://www.geometricalgebra.net/quaternions.html It states (see attached screenshot of that page), that to ...
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### Prove that the group $H^*$ is Isomorphic to the group $S^3 \times R$?
I'm trying to prove that the quaternion group $H^*$ is isomorphic to the direct product $S^3\times R^+$ where $S^3$ is the 3-sphere which has unit length 1. And $R^+$ being the group of positive real ...