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Versor
In mathematics, a versor is a quaternion of norm one (a ''unit quaternion''). The word is derived from Latin ''versare'' = "to turn" with the suffix ''-or'' forming a noun from the verb (i.e. ''versor'' = "the turner"). It was introduced by William Rowan Hamilton in the context of his quaternion theory. Each versor has the form :q = \exp(a\mathbf) = \cos a + \mathbf \sin a, \quad \mathbf^2 = -1, \quad a \in ,\pi where the r2 = −1 condition means that r is a unit-length vector quaternion (or that the first component of r is zero, and the last three components of r are a unit vector in 3 dimensions). The corresponding 3-dimensional rotation has the angle 2''a'' about the axis r in axis–angle representation. In case (a right angle), then q = \mathbf, and the resulting unit vector is termed a '' right versor''. Presentation on 3- and 2-spheres Hamilton denoted the versor of a quaternion ''q'' by the symbol U''q''. He was then able to display the general quaternion in polar ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Classical Hamiltonian Quaternions
William Rowan Hamilton invented quaternions, a mathematical entity in 1843. This article describes Hamilton's original treatment of quaternions, using his notation and terms. Hamilton's treatment is more geometric than the modern approach, which emphasizes quaternions' algebraic properties. Mathematically, quaternions discussed differ from the modern definition only by the terminology which is used. Classical elements of a quaternion Hamilton defined a quaternion as the quotient of two directed lines in tridimensional space; or, more generally, as the quotient of two vectors. A quaternion can be represented as the sum of a ''scalar'' and a ''vector''. It can also be represented as the product of its ''tensor'' and its ''versor''. Scalar Hamilton invented the term ''scalars'' for the real numbers, because they span the "scale of progression from positive to negative infinity" or because they represent the "comparison of positions upon one common scale". Hamilton regarded ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Quaternion
In mathematics, the quaternion number system extends the complex numbers. Quaternions were first described by the Irish mathematician William Rowan Hamilton in 1843 and applied to mechanics in three-dimensional space. Hamilton defined a quaternion as the quotient of two '' directed lines'' in a three-dimensional space, or, equivalently, as the quotient of two vectors. Multiplication of quaternions is noncommutative. Quaternions are generally represented in the form :a + b\ \mathbf i + c\ \mathbf j +d\ \mathbf k where , and are real numbers; and , and are the ''basic quaternions''. Quaternions are used in pure mathematics, but also have practical uses in applied mathematics, particularly for calculations involving three-dimensional rotations, such as in three-dimensional computer graphics, computer vision, and crystallographic texture analysis. They can be used alongside other methods of rotation, such as Euler angles and rotation matrices, or as an alternative to th ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Right Versor
In mathematics, a unit vector in a normed vector space is a vector (often a spatial vector) of length 1. A unit vector is often denoted by a lowercase letter with a circumflex, or "hat", as in \hat (pronounced "v-hat"). The term ''direction vector'', commonly denoted as d, is used to describe a unit vector being used to represent spatial direction and relative direction. 2D spatial directions are numerically equivalent to points on the unit circle and spatial directions in 3D are equivalent to a point on the unit sphere. The normalized vector û of a non-zero vector u is the unit vector in the direction of u, i.e., :\mathbf = \frac where , u, is the norm (or length) of u. The term ''normalized vector'' is sometimes used as a synonym for ''unit vector''. Unit vectors are often chosen to form the basis of a vector space, and every vector in the space may be written as a linear combination of unit vectors. Orthogonal coordinates Cartesian coordinates Unit vectors may be ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Unit Vector
In mathematics, a unit vector in a normed vector space is a vector (often a spatial vector) of length 1. A unit vector is often denoted by a lowercase letter with a circumflex, or "hat", as in \hat (pronounced "v-hat"). The term ''direction vector'', commonly denoted as d, is used to describe a unit vector being used to represent spatial direction and relative direction. 2D spatial directions are numerically equivalent to points on the unit circle and spatial directions in 3D are equivalent to a point on the unit sphere. The normalized vector û of a non-zero vector u is the unit vector in the direction of u, i.e., :\mathbf = \frac where , u, is the norm (or length) of u. The term ''normalized vector'' is sometimes used as a synonym for ''unit vector''. Unit vectors are often chosen to form the basis of a vector space, and every vector in the space may be written as a linear combination of unit vectors. Orthogonal coordinates Cartesian coordinates Unit vectors ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Polar Decomposition
In mathematics, the polar decomposition of a square real or complex matrix A is a factorization of the form A = U P, where U is an orthogonal matrix and P is a positive semi-definite symmetric matrix (U is a unitary matrix and P is a positive semi-definite Hermitian matrix in the complex case), both square and of the same size. Intuitively, if a real n\times n matrix A is interpreted as a linear transformation of n-dimensional space \mathbb^n, the polar decomposition separates it into a rotation or reflection U of \mathbb^n, and a scaling of the space along a set of n orthogonal axes. The polar decomposition of a square matrix A always exists. If A is invertible, the decomposition is unique, and the factor P will be positive-definite. In that case, A can be written uniquely in the form A = U e^X , where U is unitary and X is the unique self-adjoint logarithm of the matrix P. This decomposition is useful in computing the fundamental group of (matrix) Lie groups. The polar ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Axis–angle Representation
In mathematics, the axis–angle representation of a rotation parameterizes a rotation in a three-dimensional Euclidean space by two quantities: a unit vector indicating the direction of an axis of rotation, and an angle describing the magnitude of the rotation about the axis. Only two numbers, not three, are needed to define the direction of a unit vector rooted at the origin because the magnitude of is constrained. For example, the elevation and azimuth angles of suffice to locate it in any particular Cartesian coordinate frame. By Rodrigues' rotation formula, the angle and axis determine a transformation that rotates three-dimensional vectors. The rotation occurs in the sense prescribed by the right-hand rule. The rotation axis is sometimes called the Euler axis. It is one of many rotation formalisms in three dimensions. The axis–angle representation is predicated on Euler's rotation theorem, which dictates that any rotation or sequence of rotations of a rigid body i ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
3-sphere
In mathematics, a 3-sphere is a higher-dimensional analogue of a sphere. It may be embedded in 4-dimensional Euclidean space as the set of points equidistant from a fixed central point. Analogous to how the boundary of a ball in three dimensions is an ordinary sphere (or 2-sphere, a two-dimensional surface), the boundary of a ball in four dimensions is a 3-sphere (an object with three dimensions). A 3-sphere is an example of a 3-manifold and an ''n''-sphere. Definition In coordinates, a 3-sphere with center and radius is the set of all points in real, 4-dimensional space () such that :\sum_^3(x_i - C_i)^2 = ( x_0 - C_0 )^2 + ( x_1 - C_1 )^2 + ( x_2 - C_2 )^2+ ( x_3 - C_3 )^2 = r^2. The 3-sphere centered at the origin with radius 1 is called the unit 3-sphere and is usually denoted : :S^3 = \left\. It is often convenient to regard as the space with 2 complex dimensions () or the quaternions (). The unit 3-sphere is then given by :S^3 = \left\ or :S^3 = \left\. This ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Line Segment
In geometry, a line segment is a part of a straight line that is bounded by two distinct end points, and contains every point on the line that is between its endpoints. The length of a line segment is given by the Euclidean distance between its endpoints. A closed line segment includes both endpoints, while an open line segment excludes both endpoints; a half-open line segment includes exactly one of the endpoints. In geometry, a line segment is often denoted using a line above the symbols for the two endpoints (such as \overline). Examples of line segments include the sides of a triangle or square. More generally, when both of the segment's end points are vertices of a polygon or polyhedron, the line segment is either an edge (of that polygon or polyhedron) if they are adjacent vertices, or a diagonal. When the end points both lie on a curve (such as a circle), a line segment is called a chord (of that curve). In real or complex vector spaces If ''V'' is a vector space o ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Spherical Geometry
300px, A sphere with a spherical triangle on it. Spherical geometry is the geometry of the two-dimensional surface of a sphere. In this context the word "sphere" refers only to the 2-dimensional surface and other terms like "ball" or "solid sphere" are used for the surface together with its 3-dimensional interior. Long studied for its practical applications to navigation and astronomy, spherical geometry bears many similarities and relationships to, and important differences from, Euclidean plane geometry. The sphere has for the most part been studied as a part of 3-dimensional Euclidean geometry (often called solid geometry), the surface thought of as placed inside an ambient 3-d space. It can also be analyzed by "intrinsic" methods that only involve the surface itself, and do not refer to, or even assume the existence of, any surrounding space outside or inside the sphere. Because a sphere and a plane differ geometrically, (intrinsic) spherical geometry has some fea ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Great Circle
In mathematics, a great circle or orthodrome is the circular intersection of a sphere and a plane passing through the sphere's center point. Any arc of a great circle is a geodesic of the sphere, so that great circles in spherical geometry are the natural analog of straight lines in Euclidean space. For any pair of distinct non- antipodal points on the sphere, there is a unique great circle passing through both. (Every great circle through any point also passes through its antipodal point, so there are infinitely many great circles through two antipodal points.) The shorter of the two great-circle arcs between two distinct points on the sphere is called the ''minor arc'', and is the shortest surface-path between them. Its arc length is the great-circle distance between the points (the intrinsic distance on a sphere), and is proportional to the measure of the central angle formed by the two points and the center of the sphere. A great circle is the largest circle that ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Mathematics
Mathematics is an area of knowledge that includes the topics of numbers, formulas and related structures, shapes and the spaces in which they are contained, and quantities and their changes. These topics are represented in modern mathematics with the major subdisciplines of number theory, algebra, geometry, and analysis, respectively. There is no general consensus among mathematicians about a common definition for their academic discipline. Most mathematical activity involves the discovery of properties of abstract objects and the use of pure reason to prove them. These objects consist of either abstractions from nature orin modern mathematicsentities that are stipulated to have certain properties, called axioms. A ''proof'' consists of a succession of applications of deductive rules to already established results. These results include previously proved theorems, axioms, andin case of abstraction from naturesome basic properties that are considered true starting points of t ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
Unit Sphere
In mathematics, a unit sphere is simply a sphere of radius one around a given center. More generally, it is the set of points of distance 1 from a fixed central point, where different norms can be used as general notions of "distance". A unit ball is the closed set of points of distance less than or equal to 1 from a fixed central point. Usually the center is at the origin of the space, so one speaks of "the unit ball" or "the unit sphere". Special cases are the unit circle and the unit disk. The importance of the unit sphere is that any sphere can be transformed to a unit sphere by a combination of translation and scaling. In this way the properties of spheres in general can be reduced to the study of the unit sphere. Unit spheres and balls in Euclidean space In Euclidean space of ''n'' dimensions, the -dimensional unit sphere is the set of all points (x_1, \ldots, x_n) which satisfy the equation : x_1^2 + x_2^2 + \cdots + x_n ^2 = 1. The ''n''-dimensional open unit ball ... [...More Info...] [...Related Items...] OR: [Wikipedia] [Google] [Baidu] |
