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3D visualization of a sphere and a rotation about an Euler axis (^) by an angle of In 3-dimensional space, according to Euler's rotation theorem, any rotation or sequence of rotations of a rigid body or coordinate system about a fixed point is equivalent to a single rotation by a given angle about a fixed axis (called the Euler axis) that runs through the fixed point. [6]
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A quaternion of the form a + 0 i + 0 j + 0 k, where a is a real number, is called scalar, and a quaternion of the form 0 + b i + c j + d k, where b, c, and d are real numbers, and at least one of b, c, or d is nonzero, is called a vector quaternion.
In mathematics, quaternionic analysis is the study of functions with quaternions as the domain and/or range. Such functions can be called functions of a quaternion variable just as functions of a real variable or a complex variable are called.
Like rotation matrices, quaternions must sometimes be renormalized due to rounding errors, to make sure that they correspond to valid rotations. The computational cost of renormalizing a quaternion, however, is much less than for normalizing a 3 × 3 matrix. Quaternions also capture the spinorial character of rotations in three dimensions.
In mathematics, a versor is a quaternion of norm one (a unit quaternion).Each versor has the form = = + , =, [,], where the r 2 = −1 condition means that r is a unit-length vector quaternion (or that the first component of r is zero, and the last three components of r are a unit vector in 3 dimensions).
When the initial end point is the identity quaternion, slerp gives a segment of a one-parameter subgroup of both the Lie group of 3D rotations, SO(3), and its universal covering group of unit quaternions, S 3. Slerp gives a straightest and shortest path between its quaternion end points, and maps to a rotation through an angle of 2Ω.
From this point of view, quaternionic representation of a group G is a group homomorphism φ: G → GL(V, H), the group of invertible quaternion-linear transformations of V. In particular, a quaternionic matrix representation of g assigns a square matrix of quaternions ρ(g) to each element g of G such that ρ(e) is the identity matrix and