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

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194 views

Riemann Zeta function, quaternions and physics

Disclaimer: This question is rather vague, and thus probably not suitable for Mathoverflow, so I prefer to ask it here. I'm sorry if it doesn't meet the standards of this site. Several years ago, I ...
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409 views

Using Padé approximants for the quaternion exponential

On a lark, I wanted to know if one can use Padé approximants to compute the exponential $\exp(z)$ of a quaternion $z=a+b\mathbf{i}+c\mathbf{j}+d\mathbf{k}$. Since Mathematica has a package meant for ...
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56 views

Hamilton's letter to his son

I'm looking for a better reference on this letter from Hamilton to his son where he wrote about his discovering on Quaternions. I'd like to read, if it is possible, a scanned version of the letter. ...
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185 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 ...
3
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126 views

Fractal derivative of complex order and beyond

Is there some precise definition of "complex (fractal) order derivative" for all complex number? I am aware of the Riemann-Liouville fractional definition given here: Complex derivative but I would ...
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115 views

The geometry of $\operatorname{PSO}(4)$ and the quaternions

Question: Given a twist of the projective space, how do I find unit quaternions that represent it? Backgroud and what do I mean: Following Conway & Smith's On Quaternions and Octonions, every ...
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33 views

Inner product space or Hilbert space of Quaternionic Functions

In what ways can you define an inner product, $<f,g>$, to create an inner product space or Hilbert space on the set of quaternionic functions $f:\mathbb{H} \rightarrow \mathbb{H}$?
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40 views

Does Shor's algorithm work for noncommutitive or nonassociative algebras?

Shor's algorithm is said to solve the hidden subgroup problem for finite Abelian groups, at least according to the Wikipedia article I read. This means that it can be used to solve factoring or ...
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34 views

Computing a particular finite set of quaternion matrices.

Let $B = \left(\frac{-1,-11}{\mathbb{Q}}\right)$ be a choice of quaternion algebra ramifying at $11$ and consider the maximal order ...
2
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133 views

Understanding quaternions and axis angle representations

I have a sensor that gives me a quaternion. I convert the quaternion to an axis-angle representation using http://www.euclideanspace.com/maths/geometry/rotations/conversions/quaternionToAngle/. When I ...
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334 views

4d rotations and quaternions

I have a question about 4d rotation: I programmed a little 4d game and I used the classical hyper-sphere coordinates, to rotate a vector. It works, but it has some problems :( (just for clarity I ...
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37 views

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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39 views

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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32 views

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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0answers
48 views

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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80 views

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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34 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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30 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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9 views

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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52 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 ...
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39 views

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 ...
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60 views

Prove that $Q$ is a group under quaternion multiplication

Consider the subset $Q$ of the quaternions defined by $$Q=\{1,-1,i,-i,j,-j,k,-k\}.$$ Show that $Q$ is a group under quaternion multiplication. I know to prove something's a group, you must show ...
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224 views

Transform a vector to global frame and ignore rotation about one axis or Full tilt compensated magnetometer

Good day everyone. I would like to lock the rotation about one specified axis. For example, let`s imagine that we have a quaternion which desribes the orientation of our rigid body relative to the ...
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66 views

Integral elements with predescribed properties in quaternion orders

In the course of doing some calculations I have found myself wanting to answer the following question: Let $D/\mathbb{Q}$ be a quaternion algebra ramified at a prime $p$ and at $\infty$ and let ...
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47 views

Plücker coordinates of the Clifford parallels

Let $$q=\cos\theta+(x_q\textbf{i}+y_q\textbf{j}+z_q\textbf{k})\sin\theta$$ be a unit quaternion parameterised by $\theta\in\mathbb{R}$, where $(x_q,y_q,z_q)$ is fixed and $x_q^2+y_q^2+z_q^2=1$, and ...
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104 views

Indefinite quaternion algebra over Q

Let $D$ be an indefinite quaternion algebra over $\Bbb Q$. We have a chosen isomorphism $\iota \colon D \otimes_{\Bbb Q} {\Bbb R} \cong {\mathrm{M}}_2({\Bbb R})$. Q: If we choose another isomorphism ...
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65 views

Dual quaternion derivation

I'd like to derivate a dual quaternion \begin{align} \hat{q}&=(1 + \frac{1}{2}\epsilon\vec{t})q \end{align} where \begin{align} q &= e^\vec{w} , \\\vec{w}&=(0, w_1,w_2,w_3)^t ...
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48 views

How stable is my quaternion interpolation?

after some experimentation to optimize slerp I found that finding the middle between quaternion is rather cheap (for $t=0.5$) in particular: (with $\theta$ the angle between $q_1$ and $q_1$) ...
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49 views

Quaternion Hermitian diagonalization

How do I go about diagonalizing such a matrix. For example let $D$ be the quaternion algebra over $\mathbb{Q}$ with $i^2 = -1, j^2 = -11$ and take the matrix: $A = \begin{pmatrix} 11 & -j-3k \\ ...
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91 views

Quaternion barycentric interpolation

Let's say that i have a set of quaternions, each representing a 3-angle orientation. And with each quaternion is associated a real value (let's say a speed value for explanation's sake). Now with an ...
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42 views

“adding” numbers $\in\mathbb{U\left(2\right)}\times \mathbb{R}^+_0$

Let a unitary number be one that corresponds to a matrix of the form: $$\left( \begin{array}{cc} w+i x & y+i z \\ -e^{i p} (y-i z) & e^{i p} (w-i x) \end{array} \right)$$ This is analogous to ...
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52 views

Optimimal rotation using non-linear conjugate gradient

The problem I'd like to ask is the following : let $M_1$ and $M_2$ two rigid bodies with a quadratic constraint function $f$ attached to its grid points. $M_2$ is always kept static while $M_1$ can be ...
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0answers
188 views

How is the Quaternion multiplication derived?

Quaternion multiplication seems suspiciously similar to the cross product. How is it derived? Here is a description of the multiplication: Let $Q_1$ and $Q_2$ be two quaternions, which are defined, ...
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210 views

Quaternions in olympiad 3d geometry

It's known that we can use complex numbers to solve some 2d problems easier than synthetic methods. But, what do you think about using complex numbers in 3d geometry? I've found extend of complex ...
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395 views

How to convert Yaw, Pitch, Roll and Acceleration value to cartesian system?

I am having readings of Yaw, pitch, Roll, Rotation matrix, Quaternion and Acceleration. These reading are taken with frequency of 20 (per second). They are collected from the mobile device which is ...
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78 views

Polynomial function from $S^3$ to $S^3$ and quaternions

I am searching the polynomial functions from $S^3$ to $S^3$. We say $g$ is a polynomial function from $S^3$ to $S^3$, if there exists $f_1,f_2,f_3,f_4 \in \mathbb{R}[X_1,X_2,X_3,X_4]$ and ...
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171 views

Handedness Convention for Pauli Matrices/Quaternions as rotations in 3-space

Its a fairly standard result that one can represent rotations in 3-space with unit quaternions (or pauli matrices which can be mapped to the unit-quaternions). Working through a related quantum ...
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2k views

Compute Altitude and Azimuth using either Quaternions or Rotation Matrix or Roll, Pitch and Yaw component

I am struck with a mathematical problem. I want to convert the iPhone device's attitude information which is available in one of the following forms: Quaternion Rotation Matrix Roll, Pitch and Yaw ...
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27 views

Quaternions: Finding the two quaternion vectors knowing the inital and final positions of interpolation?

Basically I have this really simple problem where I have the two vectors <0,1,0> (initial) and <0,-1,0> (final) for ...
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32 views

Suggestions for Clifford Analysis

I'm trying to learn Clifford Calculus and I can't find introductory level books. I found some nice lecture notes of José Figueroa-O'Farrill when I was studying Clifford Algebra: ...
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18 views

Taking a quaternion and multiplying it by a third vector

I have found a quaternion that describes the rotation of vector1 onto vector2. How would I go about applying this same rotation to a third vector? I am not using unit quaternions, rather I have a ...
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26 views

Quaternion Inverse multiplied by a vector

I'm a high school student and am doing research involving quaternions. My question is what would happen if one were to multiply $q^{-1}$ by $v$ first and then multiply by $q$ to undergo a rotation. Is ...
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37 views

Conjugation of quaternions

This proof is extreeeeemely boring, but still I must get it right. Let $x = x_0 + x_1 i + x_2 j + x_3 k \in \mathbb{H}$ (the Hamilton quaternions). Conjugation is defined as: $$x^\ast = x_0 - x_1 i - ...
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Tait–Bryan angle rotations using quaternions

I am attempting to rotate a point $P$ in $\mathbb R^3$ using the Tait–Bryan angles as the inputs, but the math is done by quaternions. This is what I have done so far: Let the Tait-Bryan angles be ...
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41 views

Compute the quaternion of a bone knowing the position of two joints

I met a problem in my project to compute the orientation of a bone. Suppose I have a bone with two joint on each end. The length of the bone is $L$. Assume the 3D position of two joints, notated as ...
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9 views

Calculating the perpendicular of a plane using many noisy measurements

I have a number of noisy measurements of quaternions, $q_i$. Where $q_i$ describe rotations from the world frame to a given plane. I want to calculate a perpendicular vector to the plane so as to ...
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13 views

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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27 views

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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27 views

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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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 ...