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