Dual quaternion: Difference between revisions
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{{ main | Wikipedia: Dual quaternion}} | {{ main | Wikipedia: Dual quaternion}} | ||
A dual quaternion can be written as <math>q = | A dual quaternion can be written as <math>\mathbf{q} = \mathbf{q}_r + \mathbf{q}_d \epsilon</math>. | ||
Here, <math>\epsilon^2=0</math>. | Here, <math>\epsilon^2=0</math>. | ||