1. Melody Cariaga Diana Delgado Aila Feliciano Angelica Pontejos Quaternion to Matrix

2. What is a Quaternion? provide a convenient mathematical notation for representing orientations and rotations of objects in three dimensions. compared to Euler angles they are simpler to compose and avoid the problem of gimbal lock. compared to rotation matrices they are more numerically stable and may be more efficient.

3. Format a + bi + cj +dk

4. Formula

5. Example 7 + 9i + 5j + 1k

7. Matrix to Quaternion

8. Trace sum of the main diagonal of a matrix

10. Formula

11. http://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation#Conversion_to_and_from_the_matrix_representation http://www.euclideanspace.com/maths/geometry/rotations/conversions/quaternionToMatrix/index.htm http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToQuaternion/index.htm References: