| List of Figures | ||
| About This Book | ||
| Acknowledgements | ||
| 1 | Historical Matters | 3 |
| 2 | Algebraic Preliminaries | 13 |
| 3 | Rotations in 3-space | 45 |
| 4 | Rotation Sequences in R[superscript 3] | 77 |
| 5 | Quaternion Algebra | 103 |
| 6 | Quaternion Geometry | 141 |
| 7 | Algorithm Summary | 155 |
| 8 | Quaternion Factors | 177 |
| 9 | More Quaternion Applications | 205 |
| 10 | Spherical Trigonometry | 235 |
| 11 | Quaternion Calculus for Kinematics and Dynamics | 257 |
| 12 | Rotations in Phase Space | 277 |
| 13 | A Quaternion Process | 303 |
| 14 | Computer Graphics | 333 |
| Further Reading and References | 365 | |
| Index | 367 |
Table of Contents
