Part III. Beyond Quaternions
These concluding chapters address briefly several ways in which it is known that the properties of quaternions can be generalized. Although quaternions are extremely unique, and are of particular relevance to the understanding and modeling of everyday life because of their relationship to 3D orientation frames, new insights into the nature of quaternions can be gained by investigating what happens when we attempt to generalize them.
These topics are definitely optional, and are intended for readers with advanced interests. However, many readers may find it very interesting to see how, in the Clifford algebra chapter, the true origin of the “square root” formula for 2D rotations
written in terms of the half angles with ...
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