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

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Why are quaternions useful? [duplicate]

What I mean is why are they used basically where they are used? Listing some advantages of using them would be better. I am taking a mechanics course where a teacher mentioned them in a discussion ...
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One more question about mapping quaternionic matrices into real matrices

Real matrices that lie in the image of the inclusion homomorphism $\rho_n: M_n(\mathbb C) \to M_{2n}(\mathbb R)$ are called complex linear. It is easy to see that a real matrix is complex linear if ...
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Eigenvalues of Second Derivatives on Quaternions

So, say you have some quaternion $q = a + b i + c j + d k$. Let $a, b, c, d, \in f(w, x, y, z)$ which each take four real numbers and yield one real number. Then, what are the most general solutions ...
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What's the algebraic closure of the quaternions?

This post is a sequel of: Is the set of quaternions $\mathbb{H}$ algebraically closed? This answer shows that: 1. $\mathbb{H}$ is algebraically closed for the polynomials of the form $\sum a_r ...
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Determine similarity between two sequence of quaternions while allowing a degree of freedom around Z axis

A person holds his phone and rotates it in space in a sequence. I am able to obtain a sequence of quaternions from the phone's motion sensors representing the rotation of the phone from the phone ...
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Find all Quaternions Satisfying..

Let H be the skew field of quaternions. Find all quaternions x satisfying $(i + j)x(i + k) = 2$ I'm having trouble figuring out what to do with this question. I know the "i j k i j k" formula for ...
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Determine Euler Angles from look, up, and cross vectors

I have a spaceship flying through a $3D$ space. The flight is determined by applying a quaternion to the look, up, and cross vectors with the following scheme (this is working perfectly): starting ...
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439 views

Quaternions vs Axis angle

Whats the use of representing rotation with quaternions compared to normal axis angle representation? I've been trying to learn quaternions and they make enough sense but as far as I can tell ...
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Solution of $ax+xb=c$ in a division ring

The equation $ax+xb=c$ in the quaternions skew field ($a,b,c,x \in \mathbb{H}$) has solution: $$ x= \left(|b|^2+2b_0a +a^2\right)^{-1} \left( ac +c \bar b\right) $$ Where $|b|,b_0,\bar b$ are ...
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Getting Euler (Tait-Bryan) Angles from Quaternion representation

Apologies if this has already been answered, but I haven't been able to get a clear answer from looking on Stack Exchange so-far. I'm trying to solve a camera stabilization problem. I have a 2-axis ...
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Isomorphism of Quaternion group

Prove that $Q_{8} \cong H \rtimes G \Rightarrow H=\{e\}$ or $G=\{e\}$. My proof (is it correct?): We know that (it's a fact from the lecture): If $M \cong H\rtimes G$, then $H \cong K \unlhd M$ ...
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Can quaternions be useful for integrals?

Lets assume we want to find a closed form for $\int_0^1 f(x) dx$ where $f(x)$ is a real-analytic function. There are many techniques to find that. Some include contour integration on the complex ...
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What is the magnitude of a dual number? I'm not finding information on this.

I'm investigating dual quaternions and am having to learn a lot of stuff myself because I'm finding very few resources on the mathematical background. I know that the magnitude of a dual quaternion ...
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63 views

What is the general definition of the conjugate of a multiple-component number?

I know that the conjugate of a binomial is the negation of the second part. So the conjugate of (a + b) would be (a - b). I know that the conjugate of a complex number (a + bi), similarly, is (a - ...
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Know if a 4x4 matrix is a composition of rotations and translations (quaternions)

I am using quaternions to describe 3D transformations. A position in space is representated by a (x,y,z,1) vector, and a transformation by a 4x4 matrix, following quaternions logics as far as I could ...
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96 views

Finding $J$ such that this diagram commutes

DISCLAIMER: This is not homework. I did this exercise here and need someone to check if my work is correct: Is it possible to find a matrix $J\in M_{2n}(\mathbb C)$ such that the following diagram ...
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Rotation Equivalence using Quaternions

I'm given a statement to prove: A rotation of π/2 around the z-axis, followed by a rotation of π/2 around the x-axis = A rotation of 2π/3 around (1,1,1) Where z-axis is the unit vector (0,0,1) ...
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Quaternion Equivalence

Assume $R_{3\times3}$ is a rotation matrix. Question Is it true that there exists two quaternions representing this same rotation matrix $R_{3\times3}$ ? Hint : $\theta = \arccos\left( ...
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How to calculate end point of vector using quaternion?

How can the end-points of the three orthonormal vectors representing local coordinate system of point (p.x, p.y, p.z) be calculated given rotation represented by quaternion in global coordinate system ...
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Exponential Function of Quaternion - Derivation

The equation for the exponential function of a quaternion $q = a + b i + c j + dk$ is supposed to be $$e^{q} = e^a (\cos(\sqrt{b^2+c^2+d^2})+\frac{(b i + c j + dk)}{\sqrt{b^2+c^2+d^2}} ...
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Inverse of a $2\times2$ matrix with noncommuting entries

I want to invert a $2 \times 2$ matrix with quaternionic entries. Since non-commutativity, the determinant is not well defined and I've seen in http://en.wikipedia.org/wiki/Quaternionic_matrix that, ...
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Quaternions: Rotation Matrix Derivative

Given Data and Specifications in Question If $q(t)$ represents the position vector as result of rotation with an angular velocity $\omega(t)$ in quaternions, then you can make the relationship ...
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Need help determining the pairs of quaternions that anticommute

I tried to solve another exercise and I would be grateful if someone could tell me if my answer is right. This is the exercise: Characterize the pairs $p,q \in \mathbb H$ such that $pq = -qp$. I ...
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What does multiplication of two quaternions give?

I'm using quaternions as a means to rotate an object in the application I'm developing. If one quaternion represents a rotation and the second quaternion represents another rotation, what does their ...
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On the inclusion homomorphism for quaternionic matrices into complex matrices

My thoughts / background information: It is easy to find an inclusion homomorphism for complex matrices into real matrices: considering the one dimensional case note that multiplying a complex number ...
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Quaternion Negative Unity

I'm reading Hamilton's Paper on Quaternions. Found here http://www.emis.de/classics/Hamilton/OnQuat.pdf. On page 5, the first statement of 7, says that there are only two different square roots of ...
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Question about Hamilton's Quaternion Paper

So I was reading Hamilton's paper on quaternions. http://www.emis.de/classics/Hamilton/OnQuat.pdf. On page 2, I'm having trouble following how QQ' and equations A,B,C lead to equation D. My main ...
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Basis for quaternionic functions

We know that the set of functions $\{1,\cos x, \sin x, \cos 2x, \sin 2x, ... \; | \,x \in \mathbb{R} \}$ is a basis in the space $L^2_\mathbb{R}[-\pi,\pi]$ . Given a quaternion $z \in \mathbb{H}$ ...
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A corollary of Niven

Please proof corollary of Niven: For $a \in D\backslash R$, the equation ${t^n} = a$ has exactly $n$ solutions in $D$, all of which lie in $R\left( a \right)$, in there $R$ is a real-closed field and ...
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Why is this algebraic manipulation of quaternions incorrect?

I know that for quaternions, $$i^2=j^2=k^2=ijk=-1$$ I've tried to understand this intuitively as having $i$, $j$ and $k$ represent a rotation about each of three axes. But when I do a bit of ...
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Conversion of a matrix differential equation for rotation to quaternions

Specifications and Data We have a 3D rotation function $R(t)_{3\times 3}$ and function ${K(t)}_{3\times 3}$, a matrix-valued function that gives skew symmetric matrices as outputs. It has the ...
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Rotation about an axis by matrix multiplication

Suppose I have three axis of rotation vectors $\vec{v_1},\vec{v_2},\vec{v_3}$ and angle of rotation as vectors $\theta_1,\theta_2,\theta_3$. Take a vector $P$ then apply rotation around $\vec{v_1}$ ...
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Is complex symplectic structure equivalent to a quaternionic structure?

Let $S$ be a vector space over $\mathbb{C}$ of dimension $\operatorname{dim} S =2n$, let me denote by $S_\mathbb{R}$ real form of $S$ i.e. vector space over $\mathbb{R}$ of dimension $4n$. Is it true ...
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Showing $\mathbb{H}$ is isomorphic to a subring of $M_2(\mathbb{C})$ as $\mathbb{R}$-algebras

I'm currently trying to show that the ring $A =\begin{pmatrix} a & b \\ - \bar{b} & \bar{a} \end{pmatrix} $ is isomorphic to the real quaternions $\mathbb{H}$ as $\mathbb{R}$-algebras. ...
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Showing that $\mathbb{H}^{*}$ maps onto $\mathrm{Aut}(\mathbb{H})$

To show that $\mathbb{H}$ maps onto $\mathrm{Aut}(\mathbb{H})$, where $\mathbb{H}$ is the Hamilton quaternions, I thought it'd be pertinent to show first that the subgroup of inner automorphisms of ...
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Quaternion exponential

Given an imaginary quaternion $ \mathbf{v}=\alpha \mathbf{i}+ \beta \mathbf{j}+\gamma \mathbf{k} $ its exponential is: $ e^\mathbf{v}=\cos \theta +\mathbf{v}\dfrac {\sin \theta}{\theta} $ where ...
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3D Extension of a Fun Geometric Series Puzzle

After being inspired by this question, and in particular Semiclassical's excellent response and generalisation, I thought of another generalisation to a 3-dimensional plane.: Suppose you start at ...
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Why are properties lost in the Cayley–Dickson construction?

Motivating question: What lies beyond the Sedenions? I'm aware that one can construct a hierarchy of number systems via the Cayley–Dickson process: $$\mathbb{R} \subset \mathbb{C} \subset ...
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How does a quaternion differ from a position in terms of algebraic structure?

For two positions, I can subtract one from another to get a vector; I can take combination of them to get another position. My question is, can I treat quaternions in the same way? To be more ...
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Mean value of the rotation angle is 126.5°

In the paper "Applications of Quaternions to Computation with Rotations" by Eugene Salamin, 1979 (click here), they get 126.5 degrees as the mean value of the rotation angle of a random rotation (by ...
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Explaining Spin(3)

I’m going to discuss the action of Spin(3) on Euclidean vectors. This thing has several alternative names: “versors”/“rotation quaternions”, “quaternionic adjoint representation”, “quaternion action ...
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Quaternion–Spinor relationship?

I've known for some time about the rotation group action of the ('pure') quaternions on $ \mathbf{R}^3 $ by conjugation. I've recently encountered spinors and notice similarities in their definitions ...
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Maximal and prime ideals of quaternions with integer coefficients

Let $R = \mathbb{Z} + \mathbb{Z}i + \mathbb{Z}j + \mathbb{Z}k$, the subring of $\mathbb{H}$ consisting of quaternions with integer coefficients. An exercise in Goodearl and Warfield's An Introduction ...
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Is the set of quaternions $\mathbb{H}$ algebraically closed?

A skew field $K$ is said to be algebraically closed if it contains a root for every non-constant polynomial in $K[x]$. I know that this is true for $\mathbb{C}$, which is the algebraic closure of ...
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Given unit quaternions $q_0,q_1$, find $q$ such that $q_1 = q^* q_0 q$

I rotate an object in space and find two orientation (unit) quaternions. $q_0 = {}^{M_2}_{M_1} q$ is the orientation at the 2nd position relative to the 1st position, measured in frame M. $q_1 = ...
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Quaternion , DCM , Euler Angles and Rotation Matrix Differences and when to use?

Quaternion , DCM[Direction Cosine Matrix] , Euler Angles and Rotation Matrix Differences and when to use ? All of the above components can represent rotation , so when to use each of them , best ...
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Simple Vector Space Rotation

Given Data in the problem & notation convenstions We have 3 rotation vectors called $\vec{\theta_1},\vec{\theta_2},\vec{\theta_3}$, magnitude of these vectors will give you angle of rotation We ...
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3D rotation by a complex angle around a complex axis.

Context In electromagnetism, it is common to meet complex angles. Snell's law can produce them (with metals and/or total internal reflection), and when we plug them into Fresnel's equations, the ...
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Is there a relationship between the cross product and quaternion multiplication?

I've just been introduced to the Kronecker delta, $\delta_{ij}$, along with the alternating tensor, $\varepsilon_{ijk}$ (in vector calculus). Motivation for the question: I've been introduced to ...
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Averaging quaternions

Given multiple quaternions representing orientations, and I want to average them. Each one has a different weight, and they all sum up to one. How can I get the average of them? Simple multiplication ...