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

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Do Lipschitz/Hurwitz quaternions satisfy the Ore condition?

The Lipschitz quaternions $L$ are the quaternions with integer coefficients and the Hurwitz quaternions $H$ are the quaternions with coefficients from $\Bbb Z\cup(\Bbb Z+1/2).$ A ring satisfies the ...
2
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1answer
28 views

Enumeration of Hurwitz quaternions of norm p

In "on Quaternions and Octonions" by Conway and Smith, they quote a result by which for each prime norm $p$ there are exactly $p+1$ Hurwitz quaternions of norm $p$. I haven't found any proof of that. ...
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2answers
42 views

Unit Quaternion to a Scalar Power

I'm trying to modify a physics engine for efficiency. Currently, as objects move around the world, their orientation (a quaternion) is updated every frame, by multiplying by the rotation (another ...
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0answers
22 views

Quaternions- Rotation Matrix Derivative

Given Data and Specifications in Question If $q(t)$ represnts the position vector as result of rotation with an angular veclocity $\omega(t)$ in quaternion , then you can make the relationship ...
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1answer
23 views

Multiplication of Rotation Matrices in quaternion

Given Data and specifications NB : * means multiplication Suppose we need to rotate a point $P = \begin{pmatrix} x\\ y\\ z \end{pmatrix}$ with rotation matrix ${Q}_{3\times3}$ then what we do is ...
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1answer
180 views

What specific algebraic properties are broken at each Cayley-Dickson stage beyond octonions?

I'm starting to come around to an understanding of hypercomplex numbers, and I'm particularly fascinated by the fact that certain algebraic properties are broken as we move through each of the $2^n$ ...
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0answers
11 views

Translating Quaternion rotation from one frame of reference to another.

I have been having issues getting around this for quite a few days. I will appreciate any input or advice. I have a sphere (A) with an applied axis rotation of lets say -45 degrees around the Z-axis. ...
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1answer
43 views

Exercise 5.8 from Lie Group, Daniel Bump

In the exercise 5.8 Bump has asked to prove that the group $Sp(4)$ over complex numbers, which is usual complex embedding $U(4)\cap Sp(4,\mathbb{C})$, can be described by, $$\left\{\begin{pmatrix} ...
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2answers
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Combining rotation quaternions

If I combine 2 rotation quaternions by multiplying them, lets say one represents some rotation around x axis and other represents some rotation around some arbitrary axis. The the order of rotation ...
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0answers
20 views

Quaternion Calculus

I was reading a note on Quaternion(Link) and I am happened to read a section regarding a solution of quaternion differential equation. I am putting that segment as picture format here for more ...
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1answer
38 views

Rotation Matrix to Quaternion(proper Orientation)

Given Data in the figure In this figure we have a unit vectors $ x,y,z$ as axis. Axis of rotation is $b$ and angle of rotation is $\phi$. $\phi$ is unknown and $b$ is given as $b= \frac{1}{2 ...
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0answers
30 views

Quaternion Integration - Initial value problem

We have a standard form of quaternion integration equation $$ q(t) = q(t_0) \exp\left(\frac 12 \int_{t_0}^t \mathbf{\omega}(\tau) d\tau\right),\tag 1 $$ For reference you can check equation (42) in ...
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0answers
28 views

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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1answer
27 views

Quaternionic representation

Let $V$ be $G$-representation over quaternions $\mathbb{H}$. How to show that $$ \mathbb{H} \otimes_\mathbb{C} V $$ is canonically isomorphic to $V \oplus V$ as representation over $\mathbb{H}$? In ...
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0answers
25 views

Quaternion Solution of the Rotation Equation

I am trying to make a connection between a 3-d vector ODE with a quaternion ODE and a possible solution in quaternion. In the following, a vector $v$ in $R^3$ is interpreted as the vector part of the ...
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1answer
327 views

Why should I consider the components $j^2$ and $k^2$ to be $=-1$ in the search for quaternions?

I'm reading a paper about Hamilton's discovery of quaternions and it explains why he failed in his 'theory of triplets' where he tried to make a vector with $3$ dimensions, as an analogy to the ...
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0answers
55 views

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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0answers
29 views

Cross product uniqueness

I have following relationship between vectors $A_1'(t)=\psi(t)\times A_1(t) \tag1$ $A_2'(t)=\psi(t)\times A_2(t) \tag2$ $A_3'(t)=\psi(t)\times A_3(t) \tag3$ Given Data " ' " means derivative ...
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4answers
69 views

Rotating Frame and Angular Velocity

We have an equation $ \frac{dr}{dt}=\Omega \times \bf r \tag 1$ SPECIFICATIONS $\times$ means cross product,$\Omega$ constant angular velocity,${\bf r}$ is the postion vector of an object Given ...
7
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1answer
126 views

Quaternion integration

If the angular velocity is changing continuously, the following holds true $ q(t)=q(0)\exp\left({\int_{0}^{t}\frac{q_\omega(\tau)}{2}\ d\tau}\right) \tag 1$ Specifications and Data $q(t),q(0)$ ...
2
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1answer
47 views

Do all automorphisms of $\mathbb{H}$ preserve the norm of an element?

Do all automorphisms of $\mathbb{H}$-- the Hamilton quaternions-- preserve the norm of an element? I can't seem to answer this question without using the not-so-elementary fact that all automorphisms ...
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2answers
43 views

Inverse of a Rotation matrix

If $R $ is a rotation matrix (determinant 1,orthonormal) can we say that $R^{-1}$ is also a rotation matrix? If yes how do we prove it?
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6answers
2k views

What is the motivation for quaternions?

I know imaginary numbers solve $x^2 +1=0$, but what is the motivation for quaternions?
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2answers
427 views

Quaternion Differentiation

I have an application that tracks an image and estimates its position and orientation. The orientation is given by a quaternion, and it is modified by an angular velocity every frame. To predict the ...
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3answers
563 views

half sine and half cosine quaternions

Something is a little bit unclear to me. In the image below you see that you need to divide the angle by a half. Acccording to wikipedia they say that this is so that I could rotate clockwise or ...
3
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1answer
48 views

Finding quaternion that transforms to particular basis

I want to find a quaternion $x \in{\mathbb{H}} $ that transforms (rotates) the $ i,j,k $ basis to a particular basis. In equations: $$ x i x^{-1} = a_1 $$ $$ x j x^{-1} = a_2 $$ $$ x k x^{-1} = a_3 ...
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1answer
42 views

Construction of Hyper-Complex Numbers

How does one construct a hyper-complex number multiplication table? For example: Quarternions: ...
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0answers
15 views

Strong Approximation for adelic quaternionic groups

Let $H$ be a definite quaternion algebra defined over $\mathbb{Q}$, unramified at $p$, and ramified at $\infty$. Denote by $D$ the multiplicative group $H^\times$ divided by its center. In this ...
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1answer
37 views

There is no group whose quotient by the center is isomorphic to the quaternion group [duplicate]

I have to prove that there is no group $G$ such that $G/Z(G)$ is isomorphic to $Q_8$. Anytone can give me an idea to begin? thanks
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3answers
77 views

Are $i,j,k$ commutative?

I am trying to understand quaternions. I read that Hamilton came up with the great equation: A) $i^2 = j^2 = k^2 = ijk = āˆ’1$ In this equation I understand that $i,j,k$ are complex numbers. Later ...
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3answers
85 views

Conversion of rotation matrix to quaternion

We use unit length Quaternion to represent rotations. Following is a general rotation matrix obtained ${\begin{bmatrix}m_{00} & m_{01}&m_{02} \\ m_{10} & m_{11}&m_{12}\\ m_{20} & ...
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0answers
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Find path between two attitudes subject to body rate constraints

Here's my problem. I have an initial orientation and angular velocity of a body and a final orientation and velocity occurring at a specified time in the future. I have control over how input ...
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2answers
587 views

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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0answers
33 views

Rotation plane on the sphere (quarternion)

I asked similar question on stackoverflow but still no answers.http://stackoverflow.com/questions/25185329/image-rotation-with-the-gyro-data-math I assume it is more math than programming problem. ...
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8answers
3k views

Why is the complex number $z=a+bi$ equivalent to the matrix form $\left(\begin{smallmatrix}a &-b\\b&a\end{smallmatrix}\right)$ [duplicate]

Possible Duplicate: Relation of this antisymmetric matrix $r = \left(\begin{smallmatrix}0 &1\\-1&0\end{smallmatrix}\right)$ to $i$ On Wikipedia, it says that: Matrix ...
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2answers
50 views

Derive a quaternion from three axis

My problem originates from some code that I'm writing to parse an obscure file-type in which a geometric entity is defined in it's own 'local space', and a rotation and translation are provided to ...
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0answers
14 views

Multilinear quaternion interpolation

I'm looking for literature to study more on multilinear quaternion interpolation. Looking for 'trilinear interpolation' and 'tricubic interpolation' on Google Scholar or arxiv doesn't yield much ...
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2answers
58 views

Solving for a Rotation Matrix Equation $R_1 R_\mathrm{x} R_2 = R_\mathrm{x}$

I would like to solve for an equation $R_1 R_\mathrm{x} R_2 = R_\mathrm{x}$ where $R_1$, $R_2$, and $R_\mathrm{x}$ are 3x3 rotation matrices, $R_1$ and $R_2$ are known, and $R_\mathrm{x}$ is unknown. ...
3
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0answers
99 views

Tensor product of the spaces of quaternions and complex numbers

Let $ \mathbb{H} $ be the ring of quaternions and make the vector space $A = \mathbb{H} \otimes \mathbb{C}$ into a ring by defining $$(a \otimes w)(b \otimes z) = (ab \otimes wz) $$ for $a,b ...
2
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1answer
54 views

Tensor products and isomorphic algebras

I found that $\mathbb{C} \otimes_{\mathbb{R}} \mathbb{C} \simeq \mathbb{C} \oplus\mathbb{C}$ and that $ \mathbb{H} \otimes_{ \mathbb{R}} \mathbb{C} \simeq M_2( \mathbb{C})$. Could anybody hint me how ...
0
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1answer
68 views

Converting quaternions to spherical angles

Consider a situation where a beam is shot at a cube C from an arbitrary position P. The cube detects the angle of incidence relative to its $ x $ axis. The cube can be rotated and moved, and the ...
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0answers
37 views

can quaternions be expressed in terms of tensor products?

QUESTIONS does this arithmetic check out? if so, is there a geometric interpretation? note: my aim was to try to find a very simple but non-trivial example which might help me begin to understand ...
2
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1answer
35 views

Need help with this exercise about real division algebra

I am trying to solve the following exrcise: Prove that complex multiplication does not extend to a multiplication on $\mathbb R^3$ so as to make $\mathbb R^3$ into a real division algebra. I ...
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0answers
24 views

Set of quaternions that anti-commute

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 $x,y \in \mathbb H$ such that $xy = -yx$. ...
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0answers
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identifying $\mathbb H$$^n$ with $\mathbb C^{2n}$

Let $X \in M_n(\mathbb H)$ (Hermetian field). It is possible to make $\mathbb H$$^n$ into a $2n$-dimensional vector space over $\mathbb C$, for example, by embedding $\mathbb C$ into $\mathbb H$ as ...
3
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1answer
57 views

Commuting quaternions

I tried to solve the following exercise, please could somebody tell me if I did it right?: Prove that non-real elements $x,y \in \mathbb H$ commute if and only if their imaginary parts are ...
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1answer
62 views

Isomorphism of quaternions with a matrix ring over real numbers

Let $\mathcal A$ be the algebra over the real numbers consisting of matrices of the form $$\begin{pmatrix} z&w\\ - \bar{w}& \bar{z} \end{pmatrix} \ (z, w \in \mathbb C). $$ $\mathcal A$ is in ...
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0answers
19 views

Finding component Velocity relative to Velocity

I am trying to find the velocity of an object in a particular Direction based on the current rotation and velocity of that object. I will try and illustrate the example: I have a space craft ...
0
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0answers
25 views

Quaternions $\leftrightarrow$ Matrix - Source Code

Can anybody help me with a easy source code for the transformation quaternions $\leftrightarrow$ matrix? Any language programming is ok, doesn't matter if it about C/C++ or java, or written in Matlab. ...
0
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1answer
23 views

Error performing multiplication of Quaternions

Alright I'm going to try one last time to explain my problem with quaternions and multiplication of two quaternions in specific. This time hopefully I'll get an explanation that makes sense. (I posted ...