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The norm of a quaternion (the square root of the product with its conjugate, as with complex numbers) is the square root of the determinant of the corresponding matrix. [30] The scalar part of a quaternion is one half of the matrix trace. The conjugate of a quaternion corresponds to the conjugate transpose of the matrix.
The product of a quaternion with its conjugate is its common norm. [63] The operation of taking the common norm of a quaternion is represented with the letter N. By definition the common norm is the product of a quaternion with its conjugate. It can be proven [64] [65] that common norm is equal to the square of the tensor of a quaternion ...
The representation of a rotation as a quaternion (4 numbers) is more compact than the representation as an orthogonal matrix (9 numbers). Furthermore, for a given axis and angle, one can easily construct the corresponding quaternion, and conversely, for a given quaternion one can easily read off the axis and the angle.
The quaternion multiplicative inverse = is another fundamental function, but as with other number systems, () and related problems are generally excluded due to the nature of dividing by zero. Affine transformations of quaternions have the form
The conjugate of a dual quaternion is the extension of the conjugate of a quaternion, that is ^ = (,) = +. As with quaternions, the conjugate of the product of dual quaternions, Ĝ = ÂĈ, is the product of their conjugates in reverse order,
A direct formula for the conversion from a quaternion to Euler angles in any of the 12 possible sequences exists. [2] For the rest of this section, the formula for the sequence Body 3-2-1 will be shown. If the quaternion is properly normalized, the Euler angles can be obtained from the quaternions via the relations:
As a quaternion consists of two independent complex numbers, they form a four-dimensional vector space over the real numbers. The multiplication of quaternions is not quite like the multiplication of real numbers, though; it is not commutative – that is, if p and q are quaternions, it is not always true that pq = qp.
In mathematics, the complex conjugate of a complex number is the number with an equal real part and an imaginary part equal in magnitude but opposite in sign. That is, if a {\displaystyle a} and b {\displaystyle b} are real numbers, then the complex conjugate of a + b i {\displaystyle a+bi} is a − b i . {\displaystyle a-bi.}