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Versor
In mathematics, a versor is a quaternion of Quaternion#Norm, norm one, also known as a unit quaternion. Each versor has the form :u = \exp(a\mathbf) = \cos a + \mathbf \sin a, \quad \mathbf^2 = -1, \quad a \in [0,\pi], where the r2 = −1 condition means that r is an imaginary unit. There is a Quaternion#Square_roots_of_%E2%88%921, sphere of imaginary units in the quaternions. Note that the expression for a versor is just Euler's formula for the imaginary unit r. In case (a right angle), then u = \mathbf, and it is called a ''right versor''. The mapping q \to u^ q u corresponds to three-dimensional space, 3-dimensional rotation, and has the angle 2''a'' about the axis r in axis–angle representation. The collection of versors, with quaternion multiplication, forms a group (mathematics), group, and appears as a 3-sphere in the 4-dimensional quaternion algebra. Presentation on 3- and 2-spheres Hamilton denoted the versor of a quaternion ''q'' by the symbol U ''q''. He was the ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Classical Hamiltonian Quaternions
William Rowan Hamilton invented quaternions, a mathematical entity in 1843. This article describes Hamilton's original treatment of quaternions, using his notation and terms. Hamilton's treatment is more geometry, geometric than the modern approach, which emphasizes quaternions' algebraic properties. Mathematically, quaternions discussed differ from the modern definition only by the terminology which is used. Classical elements of a quaternion Hamilton defined a quaternion as the quotient of two directed lines in tridimension (vector space), dimensional space; or, more generally, as the quotient of two vectors. A quaternion can be represented as the sum of a #Scalar, ''scalar'' and a #Vector, ''vector''. It can also be represented as the product of its #Tensor, ''tensor'' and its #Versor, ''versor''. Scalar Hamilton invented the term ''scalars'' for the real numbers, because they span the "scale of progression from positive to negative infinity" or because they represent the " ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Quaternion
In mathematics, the quaternion number system extends the complex numbers. Quaternions were first described by the Irish mathematician William Rowan Hamilton in 1843 and applied to mechanics in three-dimensional space. The algebra of quaternions is often denoted by (for ''Hamilton''), or in blackboard bold by \mathbb H. Quaternions are not a field, because multiplication of quaternions is not, in general, commutative. Quaternions provide a definition of the quotient of two vectors in a three-dimensional space. Quaternions are generally represented in the form a + b\,\mathbf i + c\,\mathbf j +d\,\mathbf k, where the coefficients , , , are real numbers, and , are the ''basis vectors'' or ''basis elements''. Quaternions are used in pure mathematics, but also have practical uses in applied mathematics, particularly for calculations involving three-dimensional rotations, such as in three-dimensional computer graphics, computer vision, robotics, magnetic resonance i ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Right Versor
In mathematics, a unit vector in a normed vector space is a vector (often a spatial vector) of length 1. A unit vector is often denoted by a lowercase letter with a circumflex, or "hat", as in \hat (pronounced "v-hat"). The term ''normalized vector'' is sometimes used as a synonym for ''unit vector''. The normalized vector û of a non-zero vector u is the unit vector in the direction of u, i.e., :\mathbf = \frac=(\frac, \frac, ... , \frac) where ‖u‖ is the norm (or length) of u and \, \mathbf\, = (u_1, u_2, ..., u_n). The proof is the following: \, \mathbf\, =\sqrt=\sqrt=\sqrt=1 A unit vector is often used to represent directions, such as normal directions. Unit vectors are often chosen to form the basis of a vector space, and every vector in the space may be written as a linear combination form of unit vectors. Orthogonal coordinates Cartesian coordinates Unit vectors may be used to represent the axes of a Cartesian coordinate system. For instance, the standard ' ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Quaternion
In mathematics, the quaternion number system extends the complex numbers. Quaternions were first described by the Irish mathematician William Rowan Hamilton in 1843 and applied to mechanics in three-dimensional space. The algebra of quaternions is often denoted by (for ''Hamilton''), or in blackboard bold by \mathbb H. Quaternions are not a field, because multiplication of quaternions is not, in general, commutative. Quaternions provide a definition of the quotient of two vectors in a three-dimensional space. Quaternions are generally represented in the form a + b\,\mathbf i + c\,\mathbf j +d\,\mathbf k, where the coefficients , , , are real numbers, and , are the ''basis vectors'' or ''basis elements''. Quaternions are used in pure mathematics, but also have practical uses in applied mathematics, particularly for calculations involving three-dimensional rotations, such as in three-dimensional computer graphics, computer vision, robotics, magnetic resonance i ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Polar Decomposition
In mathematics, the polar decomposition of a square real or complex matrix A is a factorization of the form A = U P, where U is a unitary matrix, and P is a positive semi-definite Hermitian matrix (U is an orthogonal matrix, and P is a positive semi-definite symmetric matrix in the real case), both square and of the same size. If a real n \times n matrix A is interpreted as a linear transformation of n-dimensional space \mathbb^n, the polar decomposition separates it into a rotation or reflection U of \mathbb^n and a scaling of the space along a set of n orthogonal axes. The polar decomposition of a square matrix A always exists. If A is invertible, the decomposition is unique, and the factor P will be positive-definite. In that case, A can be written uniquely in the form A = U e^X, where U is unitary, and X is the unique self-adjoint logarithm of the matrix P. This decomposition is useful in computing the fundamental group of (matrix) Lie groups. The polar decompos ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
3-sphere
In mathematics, a hypersphere or 3-sphere is a 4-dimensional analogue of a sphere, and is the 3-dimensional n-sphere, ''n''-sphere. In 4-dimensional Euclidean space, it is the set of points equidistant from a fixed central point. The interior of a 3-sphere is a 4-ball. It is called a 3-sphere because topologically, the surface itself is 3-dimensional, even though it is curved into the 4th dimension. For example, when traveling on a 3-sphere, you can go north and south, east and west, or along a 3rd set of cardinal directions. This means that a 3-sphere is an example of a 3-manifold. Definition In coordinates, a 3-sphere with center and radius is the set of all points in real, Four-dimensional space, 4-dimensional space () such that :\sum_^3(x_i - C_i)^2 = ( x_0 - C_0 )^2 + ( x_1 - C_1 )^2 + ( x_2 - C_2 )^2+ ( x_3 - C_3 )^2 = r^2. The 3-sphere centered at the origin with radius 1 is called the unit 3-sphere and is usually denoted : :S^3 = \left\. It is often convenient to r ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Euler's Formula
Euler's formula, named after Leonhard Euler, is a mathematical formula in complex analysis that establishes the fundamental relationship between the trigonometric functions and the complex exponential function. Euler's formula states that, for any real number , one has e^ = \cos x + i \sin x, where is the base of the natural logarithm, is the imaginary unit, and and are the trigonometric functions cosine and sine respectively. This complex exponential function is sometimes denoted ("cosine plus ''i'' sine"). The formula is still valid if is a complex number, and is also called ''Euler's formula'' in this more general case. Euler's formula is ubiquitous in mathematics, physics, chemistry, and engineering. The physicist Richard Feynman called the equation "our jewel" and "the most remarkable formula in mathematics". When , Euler's formula may be rewritten as or , which is known as Euler's identity. History In 1714, the English mathematician Roger Cotes prese ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Axis–angle Representation
In mathematics, the axis–angle representation parameterizes a rotation in a three-dimensional Euclidean space by two quantities: a unit vector indicating the direction of an axis of rotation, and an angle of rotation describing the magnitude and sense (e.g., clockwise) of the rotation about the axis. Only two numbers, not three, are needed to define the direction of a unit vector rooted at the origin because the magnitude of is constrained. For example, the elevation and azimuth angles of suffice to locate it in any particular Cartesian coordinate frame. By Rodrigues' rotation formula, the angle and axis determine a transformation that rotates three-dimensional vectors. The rotation occurs in the sense prescribed by the right-hand rule. The rotation axis is sometimes called the Euler axis. The axis–angle representation is predicated on Euler's rotation theorem, which dictates that any rotation or sequence of rotations of a rigid body in a three-dimensional space ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Imaginary Unit
The imaginary unit or unit imaginary number () is a mathematical constant that is a solution to the quadratic equation Although there is no real number with this property, can be used to extend the real numbers to what are called complex numbers, using addition and multiplication. A simple example of the use of in a complex number is Imaginary numbers are an important mathematical concept; they extend the real number system \mathbb to the complex number system \mathbb, in which at least one Root of a function, root for every nonconstant polynomial exists (see Algebraic closure and Fundamental theorem of algebra). Here, the term ''imaginary'' is used because there is no real number having a negative square (algebra), square. There are two complex square roots of and , just as there are two complex square roots of every real number other than zero (which has one multiple root, double square root). In contexts in which use of the letter is ambiguous or problematic, the le ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Equipollence (geometry)
In Euclidean geometry, equipollence is a homogeneous relation between directed line segments. Two segments are said to be ''equipollent'' when they have the same length and direction. Two equipollent segments are parallel but not necessarily colinear nor overlapping. For example, a segment ''AB'', from point ''A'' to point ''B'', has the opposite direction to segment ''BA''; thus ''AB'' and ''BA'' are equipollent. Parallelogram property A property of Euclidean spaces is the parallelogram property of vectors: If two segments are equipollent, then they form two sides of a (possibly degenerate) parallelogram: History The concept of equipollent line segments was advanced by Giusto Bellavitis in 1835. Subsequently, the term vector was adopted for a class of equipollent line segments. Bellavitis's use of the idea of a relation to compare different but similar objects has become a common mathematical technique, particularly in the use of equivalence relations. Bellavitis us ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Spherical Geometry
300px, A sphere with a spherical triangle on it. Spherical geometry or spherics () is the geometry of the two-dimensional surface of a sphere or the -dimensional surface of higher dimensional spheres. Long studied for its practical applications to astronomy, navigation, and geodesy, spherical geometry and the metrical tools of spherical trigonometry are in many respects analogous to Euclidean plane geometry and trigonometry, but also have some important differences. The sphere can be studied either ''extrinsically'' as a surface embedded in 3-dimensional Euclidean space (part of the study of solid geometry), or ''intrinsically'' using methods that only involve the surface itself without reference to any surrounding space. Principles In plane (Euclidean) geometry, the basic concepts are points and (straight) lines. In spherical geometry, the basic concepts are points and great circles. However, two great circles on a plane intersect in two antipodal points, unlike coplan ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Great Circle
In mathematics, a great circle or orthodrome is the circular intersection of a sphere and a plane passing through the sphere's center point. Discussion Any arc of a great circle is a geodesic of the sphere, so that great circles in spherical geometry are the natural analog of straight lines in Euclidean space. For any pair of distinct non- antipodal points on the sphere, there is a unique great circle passing through both. (Every great circle through any point also passes through its antipodal point, so there are infinitely many great circles through two antipodal points.) The shorter of the two great-circle arcs between two distinct points on the sphere is called the ''minor arc'', and is the shortest surface-path between them. Its arc length is the great-circle distance between the points (the intrinsic distance on a sphere), and is proportional to the measure of the central angle formed by the two points and the center of the sphere. A great circle is the largest ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
