Unit quaternion q = cos(θ/2) + u sin(θ/2) encodes a 3-D rotation by angle θ about unit axis u. Four components, closed under multiplication, singularity-free on S³, and renormalizable in O(1). Enables constant-speed SLERP on SO(3).
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Unit quaternion q = cos(θ/2) + u sin(θ/2) encodes a 3-D rotation by angle θ about unit axis u. Four components, closed under multiplication, singularity-free on S³, and renormalizable in O(1). Enables constant-speed SLERP on SO(3).
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