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Quaternion: Difference between revisions
→Double Quaternions
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==Double Quaternions== | ==Double Quaternions== | ||
Note that double quaternions are different from dual quaternions. | Note that double quaternions are different from dual quaternions. | ||
Double quaternions are written as <math>q_1 + \epsilon q_2</math> with <math>\epsilon^2 = 1</math>. | Double quaternions are written as <math>q_1 + \epsilon q_2</math> with <math>\epsilon^2 = 1</math> and applied as <math>q_1 p q_2</math>. | ||
Dual quaternions are written as <math>q_1 + \varepsilon q_2</math> with <math>\varepsilon^2 = 0</math> | Dual quaternions are written as <math>q_1 + \varepsilon q_2</math> with <math>\varepsilon^2 = 0</math> and applied as <math>(q_1 + \varepsilon q_2) p (\bar{q}_1 + \varepsilon \bar{q}_2)</math> | ||
===Cayley Factorization=== | ===Cayley Factorization=== | ||