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    Quaternion Cheat Sheet and Problems Quaternion Arithmetic: 0 X y Z I 0 X y Z

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    Manuel Cebollo
    Quaternions can represent 3D rotations and are composed of 4 coefficients that behave like imaginary variables in polynomials. Quaternion multiplication is non-commutative and defined by the rules for multiplying the imaginary variables. Rotations are represented by unit quaternions, with a two-to-one mapping between unit quaternions and rotations around an axis. A rotation is applied to a vector by converting it to a quaternion, multiplying it by the rotation quaternion, and multiplying the result by the conjugate of the rotation quaternion.

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    Quaternion Cheat Sheet and Problems Quaternion Arithmetic: 0 X y Z I 0 X y Z

    Uploaded by

    Manuel Cebollo
    82 views2 pages
    Quaternions can represent 3D rotations and are composed of 4 coefficients that behave like imaginary variables in polynomials. Quaternion multiplication is non-commutative and defined by the rules for multiplying the imaginary variables. Rotations are represented by unit quaternions, with a two-to-one mapping between unit quaternions and rotations around an axis. A rotation is applied to a vector by converting it to a quaternion, multiplying it by the rotation quaternion, and multiplying the result by the conjugate of the rotation quaternion.

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    quaternion

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    Quaternions can represent 3D rotations and are composed of 4 coefficients that behave like imaginary variables in polynomials. Quaternion multiplication is non-commutative and defined by the rules for multiplying the imaginary variables. Rotations are represented by unit quaternions, with a two-to-one mapping between unit quaternions and rotations around an axis. A rotation is applied to a vector by converting it to a quaternion, multiplying it by the rotation quaternion, and multiplying the result by the conjugate of the rotation quaternion.

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    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    82 views2 pages

    Quaternion Cheat Sheet and Problems Quaternion Arithmetic: 0 X y Z I 0 X y Z

    Uploaded by

    Manuel Cebollo
    Quaternions can represent 3D rotations and are composed of 4 coefficients that behave like imaginary variables in polynomials. Quaternion multiplication is non-commutative and defined by the rules for multiplying the imaginary variables. Rotations are represented by unit quaternions, with a two-to-one mapping between unit quaternions and rotations around an axis. A rotation is applied to a vector by converting it to a quaternion, multiplying it by the rotation quaternion, and multiplying the result by the conjugate of the rotation quaternion.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 2

    Quaternion Cheat Sheet and Problems

    Quaternion Arithmetic

    A quaternion can be represented by a vector of length four: q̇ = (q0 , qx , qy , qz ). We can think


    of these qi as the coefficients of a polynomial in three imaginary variables i, j, k, which is
    q0 + iqx + jqy + kqz . Quaternion arithmetic is determined by the behavior of these three
    imaginary variables:
    i2 = −1 j 2 = −1 k 2 = −1 ijk = −1
    We can derive lots of other relationships from these, for instance, ij = k, jki = −1, or
    ji = −k. Notice that multiplication of the variables is non-commutative: ij 6= ji.
    We multiply quaternions just like the polynomials they are, so that

    q̇ ṗ = (q0 + iqx + jqy + kqz )(p0 + ipx + jpy + kpz ) = q0 p0 + iqo px + . . . − qx px + kqx py . . .

    Notice q̇ ṗ 6= ṗq̇.
    We can also write quaternion multiplication using matrices:

    q0 −qx −qy −qz


     
     qx q0 −qz qy 
    q̇ ṗ =   ṗ = Qṗ
     
     qy qz q0 −qx 
    qz −qy qx q0

    and
    q0 −qx −qy −qz
     
     qx q0 qz −qy 
    ṗq̇ =   ṗ = Q̄ṗ
     
     qy −qz q0 qx 
    qz −qy −qx q0
    Notice the two matrices are different since quaternion multiplication is not commutative.
    The dot-product (inner product) of two quaternions is their usual vector dot-product: ṗ · q̇ =
    p 0 q 0 + p x qx + p y qy + p z qz .
    The conjugate of a quaternion, analogous to the conjugate of a complex number, is q̇ ∗ =
    q0 − iqx − jqy − kqz . Notice that q̇ q̇ ∗ = q02 + qx2 + qy2 + qz2 = q̇ · q̇ is the squared length of q̇, as
    a vector. A unit quaternion has squared length one.
    Unit quaternions have three degrees of freedom. There is a two-to-one correspondence be-
    tween unit quaternions and 3D rotations around an axis through the origin. A rotation of
    angle θ around the axis (ax , ay , az ) corresponds to the quaternion cos 2θ +sin 2θ (iax +jay +kaz ).

    1
    Notice that −q̇ = (−q0 , −qx , −qy , −qz ) corresponds to the same rotation as q̇; the inverse
    rotation is the conjugate, q̇ ∗ .
    To apply a rotation, represented as a quaternion, to a vector v, we represent v as a purely
    imaginary quatenion v̇ = ivx + jvy + kvz . Then we compute the rotated vector as

    q̇ v̇ q̇ ∗

    We compose two rotations by multiplying the two quaternions. So q̇ ṗ is the rotation we get
    by first doing ṗ, then q̇.

    1 Problems
    1. Work through the process of rotating a vector v = (x, y, z) by π around the z-axis
    in three dimensional space by writing the rotation as a quaternion q, and computing
    dotq v̇ q̇ ∗ using either quaternion multiplication or the matrices above. Do a sanity check
    on your result!

    2. For a unit quaternion q̇, we have

    (q̇ v̇) · (q̇ ẇ) = v̇ · ẇ

    Use this identity to verify that (ṗq̇) · ṙ = ṗ · (ṙq̇ ∗ )

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