Table of Contents: List of Figures About This Book Acknowledgements Ch. 1: Historical Matters Ch. 2: Algebraic Preliminaries Ch. 3: Rotations in 3-space Ch. 4: Rotation Sequences in R Ch. 5: Quaternion Algebra Ch. 6: Quaternion Geometry Ch. 7: Algorithm Summary Ch. 8: Quaternion Factors Ch. 9: More Quaternion Applications Ch. 10: Spherical Trigonometry Ch. 11: Quaternion Calculus for Kinematics and Dynamics Ch. 12: Rotations in Phase Space Ch. 13: A Quaternion Process Ch. 14: Computer Graphics Further Reading and References Index