Quaternions

I'm afraid that this page is merely a pointer to other sources of information.

I recommend looking in the following publications for a description of quaternions :

• Horn's Robot Vision
• Horn '87
• Broida and Chellapa '90
• Azarbayejani and Pentland '94
• Richard H. Battin, An Introduction to The Mathematics and Methods of Astrodynamics, American Institute of Aeronautics and Astronautics, N.Y., 1987.
• Peter C. Hughes, Spacecraft Attitude Dynamics, John Wiley & Sons, N.Y., 1986 N.Y., 1987.

Online Material

Doing physics with quaternions.

Search down in this document for a very concise, relatively good description of both Euler angles and quaternions:
http://www.cis.ohio-state.edu/~parent/book/Full.html