How Quaternions encode rotations: derivation and sample code

Re:How Quaternions encode rotations: derivation and sample code by logfromblammo on Wednesday September 07, 2016 @12:45PM (#12444887)

No. You need dual quaternions to encode rotation and translation at the same time.

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Re:How Quaternions encode rotations: derivation and sample code by chombier on Wednesday September 07, 2016 @01:26PM (#12445296)

Ok this I know, but how to do translations only? (apart from the obvious vector space structure in R4)

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Re:How Quaternions encode rotations: derivation and sample code by logfromblammo on Wednesday September 07, 2016 @02:41PM (#12445903)

There are multiple ways that will work. The simplest I can think of is to fix the real part at zero and use i, j, and k to represent deltas along the x, y, and z axes. Then point + translation = point.

There may also be a representation that also encodes distance from the origin, but I am probably confusing this in my memory with something else.

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