Quaternions and spatial rotationUnit quaternions, known as versors, provide a convenient mathematical notation for representing spatial orientations and rotations of elements in three dimensional space. Specifically, they encode information about an axis-angle rotation about an arbitrary axis. Rotation and orientation quaternions have applications in computer graphics, computer vision, robotics, navigation, molecular dynamics, flight dynamics, orbital mechanics of satellites, and crystallographic texture analysis.
Rotation formalisms in three dimensionsIn geometry, various formalisms exist to express a rotation in three dimensions as a mathematical transformation. In physics, this concept is applied to classical mechanics where rotational (or angular) kinematics is the science of quantitative description of a purely rotational motion. The orientation of an object at a given instant is described with the same tools, as it is defined as an imaginary rotation from a reference placement in space, rather than an actually observed rotation from a previous placement in space.
RotationRotation or rotational motion is the circular movement of an object around a central line, known as axis of rotation. A plane figure can rotate in either a clockwise or counterclockwise sense around a perpendicular axis intersecting anywhere inside or outside the figure at a center of rotation. A solid figure has an infinite number of possible axes and angles of rotation, including chaotic rotation (between arbitrary orientations), in contrast to rotation around a axis.
Transformation matrixIn linear algebra, linear transformations can be represented by matrices. If is a linear transformation mapping to and is a column vector with entries, then for some matrix , called the transformation matrix of . Note that has rows and columns, whereas the transformation is from to . There are alternative expressions of transformation matrices involving row vectors that are preferred by some authors. Matrices allow arbitrary linear transformations to be displayed in a consistent format, suitable for computation.
Rotation matrixIn linear algebra, a rotation matrix is a transformation matrix that is used to perform a rotation in Euclidean space. For example, using the convention below, the matrix rotates points in the xy plane counterclockwise through an angle θ about the origin of a two-dimensional Cartesian coordinate system. To perform the rotation on a plane point with standard coordinates v = (x, y), it should be written as a column vector, and multiplied by the matrix R: If x and y are the endpoint coordinates of a vector, where x is cosine and y is sine, then the above equations become the trigonometric summation angle formulae.
QuaternionIn mathematics, the quaternion number system extends the complex numbers. Quaternions were first described by the Irish mathematician William Rowan Hamilton in 1843 and applied to mechanics in three-dimensional space. Hamilton defined a quaternion as the quotient of two directed lines in a three-dimensional space, or, equivalently, as the quotient of two vectors. Multiplication of quaternions is noncommutative. Quaternions are generally represented in the form where a, b, c, and d are real numbers; and 1, i, j, and k are the basis vectors or basis elements.
3D rotation groupIn mechanics and geometry, the 3D rotation group, often denoted SO(3), is the group of all rotations about the origin of three-dimensional Euclidean space under the operation of composition. By definition, a rotation about the origin is a transformation that preserves the origin, Euclidean distance (so it is an isometry), and orientation (i.e., handedness of space). Composing two rotations results in another rotation, every rotation has a unique inverse rotation, and the identity map satisfies the definition of a rotation.
Hurwitz quaternionIn mathematics, a Hurwitz quaternion (or Hurwitz integer) is a quaternion whose components are either all integers or all half-integers (halves of odd integers; a mixture of integers and half-integers is excluded). The set of all Hurwitz quaternions is That is, either a, b, c, d are all integers, or they are all half-integers. H is closed under quaternion multiplication and addition, which makes it a subring of the ring of all quaternions H. Hurwitz quaternions were introduced by .
Rodrigues' rotation formulaIn the theory of three-dimensional rotation, Rodrigues' rotation formula, named after Olinde Rodrigues, is an efficient algorithm for rotating a vector in space, given an axis and angle of rotation. By extension, this can be used to transform all three basis vectors to compute a rotation matrix in SO(3), the group of all rotation matrices, from an axis–angle representation. In other words, the Rodrigues' formula provides an algorithm to compute the exponential map from so(3), the Lie algebra of SO(3), to SO(3) without actually computing the full matrix exponential.
Classical Hamiltonian quaternionsWilliam Rowan Hamilton invented quaternions, a mathematical entity in 1843. This article describes Hamilton's original treatment of quaternions, using his notation and terms. Hamilton's treatment is more geometric than the modern approach, which emphasizes quaternions' algebraic properties. Mathematically, quaternions discussed differ from the modern definition only by the terminology which is used. Hamilton defined a quaternion as the quotient of two directed lines in tridimensional space; or, more generally, as the quotient of two vectors.
Split-quaternionIn abstract algebra, the split-quaternions or coquaternions form an algebraic structure introduced by James Cockle in 1849 under the latter name. They form an associative algebra of dimension four over the real numbers. After introduction in the 20th century of coordinate-free definitions of rings and algebras, it was proved that the algebra of split-quaternions is isomorphic to the ring of the 2×2 real matrices.
Dual quaternionIn mathematics, the dual quaternions are an 8-dimensional real algebra isomorphic to the tensor product of the quaternions and the dual numbers. Thus, they may be constructed in the same way as the quaternions, except using dual numbers instead of real numbers as coefficients. A dual quaternion can be represented in the form A + εB, where A and B are ordinary quaternions and ε is the dual unit, which satisfies ε2 = 0 and commutes with every element of the algebra. Unlike quaternions, the dual quaternions do not form a division algebra.
Quaternion groupIn group theory, the quaternion group Q8 (sometimes just denoted by Q) is a non-abelian group of order eight, isomorphic to the eight-element subset of the quaternions under multiplication. It is given by the group presentation where e is the identity element and commutes with the other elements of the group. Another presentation of Q8 is The quaternion group Q8 has the same order as the dihedral group D4, but a different structure, as shown by their Cayley and cycle graphs: In the diagrams for D4, the group elements are marked with their action on a letter F in the defining representation R2.
Hyperbolic quaternionIn abstract algebra, the algebra of hyperbolic quaternions is a nonassociative algebra over the real numbers with elements of the form where the squares of i, j, and k are +1 and distinct elements of {i, j, k} multiply with the anti-commutative property. The four-dimensional algebra of hyperbolic quaternions incorporates some of the features of the older and larger algebra of biquaternions. They both contain subalgebras isomorphic to the split-complex number plane.
Rotations in 4-dimensional Euclidean spaceIn mathematics, the group of rotations about a fixed point in four-dimensional Euclidean space is denoted SO(4). The name comes from the fact that it is the special orthogonal group of order 4. In this article rotation means rotational displacement. For the sake of uniqueness, rotation angles are assumed to be in the segment except where mentioned or clearly implied by the context otherwise. A "fixed plane" is a plane for which every vector in the plane is unchanged after the rotation.
Quaternion algebraIn mathematics, a quaternion algebra over a field F is a central simple algebra A over F that has dimension 4 over F. Every quaternion algebra becomes a matrix algebra by extending scalars (equivalently, tensoring with a field extension), i.e. for a suitable field extension K of F, is isomorphic to the 2 × 2 matrix algebra over K. The notion of a quaternion algebra can be seen as a generalization of Hamilton's quaternions to an arbitrary base field.
Rigid transformationIn mathematics, a rigid transformation (also called Euclidean transformation or Euclidean isometry) is a geometric transformation of a Euclidean space that preserves the Euclidean distance between every pair of points. The rigid transformations include rotations, translations, reflections, or any sequence of these. Reflections are sometimes excluded from the definition of a rigid transformation by requiring that the transformation also preserve the handedness of objects in the Euclidean space.
Axis–angle representationIn mathematics, the axis–angle representation parameterizes a rotation in a three-dimensional Euclidean space by two quantities: a unit vector e indicating the direction (geometry) of an axis of rotation, and an angle of rotation θ describing the magnitude and sense (e.g., clockwise) of the rotation about the axis. Only two numbers, not three, are needed to define the direction of a unit vector e rooted at the origin because the magnitude of e is constrained.
Rotation (mathematics)Rotation in mathematics is a concept originating in geometry. Any rotation is a motion of a certain space that preserves at least one point. It can describe, for example, the motion of a rigid body around a fixed point. Rotation can have a sign (as in the sign of an angle): a clockwise rotation is a negative magnitude so a counterclockwise turn has a positive magnitude. A rotation is different from other types of motions: translations, which have no fixed points, and (hyperplane) reflections, each of them having an entire (n − 1)-dimensional flat of fixed points in a n-dimensional space.
Nilpotent matrixIn linear algebra, a nilpotent matrix is a square matrix N such that for some positive integer . The smallest such is called the index of , sometimes the degree of . More generally, a nilpotent transformation is a linear transformation of a vector space such that for some positive integer (and thus, for all ). Both of these concepts are special cases of a more general concept of nilpotence that applies to elements of rings. The matrix is nilpotent with index 2, since .
