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This makes tree rotations useful for rebalancing a tree. Consider the terminology of Root for the parent node of the subtrees to rotate, Pivot for the node which will become the new parent node, RS for the side of rotation and OS for the opposite side of rotation. For the root Q in the diagram above, RS is C and OS is P. Using these terms, the ...
A rotation operates on two nodes x and y, where x is the parent of y, and restructures the tree by making y be the parent of x and taking the place of x in the tree. To free up one of the child links of y and make room to link x as a child of y , this operation may also need to move one of the children of y to become a child of x .
This rotation assumes that X has a left child (or subtree). X's left child, R, becomes X's parent node and R's right child becomes X's new left child. This rotation is done to balance the tree; specifically when the left subtree of node X has a significantly (depending on the type of tree) greater height than its right subtree.
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Thus we can write the trace itself as 2w 2 + 2w 2 − 1; and from the previous version of the matrix we see that the diagonal entries themselves have the same form: 2x 2 + 2w 2 − 1, 2y 2 + 2w 2 − 1, and 2z 2 + 2w 2 − 1. So we can easily compare the magnitudes of all four quaternion components using the matrix diagonal.