next up previous
Next: Unit Quaternions Up: Orientation and Quaternions Previous: Definition of Quaternions

Properties of Quaternions

A quaternion can be broken into a scalar and a vector part:

In vector notation, we can write the product of two quaternions as

Quaternions also have conjugates: . The norm of a quaternion is defined by



CS488/688: Introduction to Interactive Computer Graphics
University of Waterloo
Computer Graphics Lab

cs488@cgl.uwaterloo.ca