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Quaternion: Difference between revisions
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The conjugate is <math>\bar{q} = (q_0, -\mathbf{q})</math>. | The conjugate is <math>\bar{q} = (q_0, -\mathbf{q})</math>. | ||
===Multiplication=== | |||
Multiplication is <math>q * p = (q_0 p_0 - \mathbf{q} \cdot \mathbf{p}, q_0 \mathbf{p} + p_0 \mathbf{q} + \mathbf{q} \times \mathbf{p})</math>. | |||
Intuition: Left multiplication by a quaternion is a 4D rotation plus a scaling operation. | |||
===Rotations=== | ===Rotations=== | ||