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AS5040 Quaternions

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22 views4 pages

AS5040 Quaternions

Uploaded by

jonsnoww2907
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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1 Quaternions

1. Introduction to quaternions
2. Addition, multiplication, conjugates
3. A matrix, orthogonal and eigenvalue +1, repre-
sents rotation about a vector.
4. q = q0 + ⃗q, q0 = 0 then pure quaternion.
pq = p0q0 − p⃗.⃗q + p0⃗q + q0p⃗ + p⃗ × ⃗q (1)
Conjugate is defined as
q = q0 + ⃗q
q ∗ = q0 − ⃗q
(pq)∗ = (q ∗p∗)

Norm is defined as
N (q) = qq ∗
= (q0 + ⃗q)(q0 − ⃗q)
= q02 − ⃗q.(−⃗q) + q0⃗q − q0⃗q + ⃗q × −(⃗q)
= q02 + |⃗q|2
= q02 + q12 + q22 + q32 (2)
1
1.1 Geometric Interpretation
We consider unit norm quaternions q, |q| = 1.

q = q0 + ⃗q
q02 + |⃗q|2 =1
q02= cos2 θ
|⃗q|2 = sin2 θ
⃗q
û =
|⃗q|
q = cos θ + sin θû
q ∗ = cos(−θ) + sin(−θ)û
p = cos θ1 + sin θ1û
r = cos θ2 + sin θ2û
pr = cos (θ1 + θ2) + sin (θ1 + θ2) û

Representation Eq.(3) will be useful later to show that


quaternion based operations can represent rotation of
vector.
q = cos θ + sin θû (3)
Above relations suggests that quaternions have some-
thign to do with rotation. We consider q⃗v q ∗ (q⃗v will
have nonzero scalar, q⃗v q ∗ will have zero scalar, so that

2
a pure vector / quaternion remains so after the trans-
formation). Note that |q⃗v q ∗| = |⃗v |. This corresponds
to no change in magnitude for a vector after a rotation
(R3).

q⃗v q ∗ = (q0 + ⃗q) (0 + ⃗v ) (q0 − ⃗q)


= (2q02 − 1)⃗v + 2(⃗q.⃗v )⃗q + 2q0(⃗q × ⃗v )

As an example take ⃗v = λ⃗q

q⃗v q ∗ = (q0 + ⃗q) (0 + λ⃗q) (q0 − ⃗q)


= (2q02 − 1)λ⃗q + 2λ(⃗q.⃗q)⃗q + 2q0λ(⃗q × ⃗q)
= λ⃗q

3
1.2 Proof: Quaternions for rotation
We write ⃗v as sum of a vector along ⃗q and another
vector perpendicular to ⃗q, which we denote by p⃗.

⃗v = λ⃗q + p⃗
q⃗v q ∗ = qλ⃗qq ∗ + q⃗pq ∗
= λ⃗q + q⃗pq ∗
∗ 2 2

q⃗pq = q0 − |⃗q| p⃗ + 2q0 (⃗q × p⃗)
2 2

= q0 − |⃗q| p⃗ + 2q0|⃗q| (û × p⃗)
û × p⃗ = p⃗⊥
∗ 2 2

q⃗pq = q0 − |⃗q| p⃗ + 2q0|⃗q|⃗p⊥

Using (3),
∗ 2 2

q⃗pq = cos θ − sin θ p⃗ + 2 cos θ sin θ⃗p⊥
= cos(2θ)⃗p + sin(2θ)⃗p⊥
q⃗v q ∗ = qλ⃗qq ∗ + q⃗pq ∗
= λ⃗q + cos(2θ)⃗p + sin(2θ)⃗p⊥

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