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The conjugate of a product of two quaternions is the product of the conjugates in the reverse order. That is, if p and q are quaternions, then (pq) ∗ = q ∗ p ∗, not p ∗ q ∗. The conjugation of a quaternion, in stark contrast to the complex setting, can be expressed with multiplication and addition of quaternions:
In a programmatic implementation, the conjugation is achieved by constructing a pure quaternion whose vector part is p, and then performing the quaternion conjugation. The vector part of the resulting pure quaternion is the desired vector r.
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 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,
Quaternion variable theory differs in some respects from complex variable theory. For example: The complex conjugate mapping of the complex plane is a central tool but requires the introduction of a non-arithmetic, non-analytic operation. Indeed, conjugation changes the orientation of plane figures, something that arithmetic functions do not ...
which is a quaternion of unit length (or versor) since ‖ ‖ = + + + = Most importantly, the above equations for composition of rotations are precisely the equations for multiplication of quaternions =. In other words, the group of unit quaternions with multiplication, modulo the negative sign, is isomorphic to the group of rotations with ...
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:
For both quaternions and coquaternions, all scalar quantities are treated as implicit multiples of I 2 and notated as 1. The coquaternion = + + + with scalar w, has conjugate = similar to Hamilton's quaternions.