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Quaternion type: Difference between revisions
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# The negative of a quaternion:<br><code>=(-a, -b, -c, -d)</code>
# The conjugate of a quaternion:<br><code>=( a, -b, -c, -d)</code>
# Addition of a real number r and a quaternion q:<br><code>r + q = q + r = (a+r, b, c, d)</code>
# Addition of two quaternions:<br><code>q1 + q2 = (a1+a2, b1+b2, c1+c2, d1+d2)</code>
# Multiplication of a real number and a quaternion:<br><code>qr = rq = (ar, br, cr, dr)</code>
# Multiplication of two quaternions q1 and q2 is given by:<br><code>( a1a2 − b1b2 − c1c2 − d1d2,</code><br><code>a1b2 + b1a2 + c1d2 − d1c2,</code><br><code>a1c2 − b1d2 + c1a2 + d1b2,</code><br><code>a1d2 + b1c2 − c1b2 + d1a2 )</code>
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