References

[1] B. L. van der Waerden, "Hamilton's Discovery of Quaternions," Mathematics Magazine, 9(5), 1976.

[2] H. Eves, An Introduction to the History of Mathematics, 4th ed., New York: Holt, Rinehart, and Winston, 1976.

[3] W. R. Hamilton, Elements of Quaternions, W. E. Hamilton, ed. London: Longmans, Green, and Company, 1866.

[4] C. W. Curtis, Linear Algebra: An Introductory Approach, 3rd ed., Boston: Allyn and Bacon, Inc., 1974.

[5] R. P. Paul, Robot Manipulators: Mathematics, Programming and Control, Cambridge, MA: MIT Press, 1981.

[6] E. Pervin and J. A. Webb, "Quaternions in Computer Vision and Robotics," Technical Report CMU-CS-82-150, Pittsburgh, PA: Department of Computer Science, Carnegie Mellon University, 1982.

[7] F. Solomon, "Using Quaternions to Compose Rotations," UMAP Modules in Undergraduate Mathematics and Its Applications, Module 313, Lexington, MA: COMAP, Inc., 1979.

[8] B. A. Julstrom, "Using Real Quaternions to Represent Rotations in Three Dimensions," The UMAP Journal, Lexington, MA: COMAP, Inc., Summer 1992.

[9] J. B. Kuipers, Quaternions and Rotation Sequences, Princeton, NJ: Princeton University Press, 1998.

[10] N. Bobick, "Rotating Objects Using Quaternions," Game Developer, February, 1998.