Академический Документы
Профессиональный Документы
Культура Документы
431
432 CHAPTER 10. THE QUATERNIONS, THE SPACES S 3 , SU(2), SO(3), AND RP3
a1 + bi + cj + dk,
i2 = j2 = k2 = ijk = −1
ij = −ji = k
jk = −kj = i
ki = −ik = j.
X = a1 − bi − cj − dk.
XX = (a2 + b2 + c2 + d2)1.
XY = Y X,
T r(XY ) = T r(Y X),
N (XY ) = N (X)N (Y ),
T r(ZXZ −1) = T r(X),
whenever Z (= 0.
442 CHAPTER 10. THE QUATERNIONS, THE SPACES S 3 , SU(2), SO(3), AND RP3
XY = −(X · Y )1 + [0, X × Y ].
a −b −c −d a%%
−d c b
XY = LX Y = bc a
d a −b c%
d −c b a d%
and
a% −b% −c% −d% a
b% a % d % %
−c b .
XY = RY X = % c
c −d% a% b%
d% c% −b% a% d
10.1. THE ALGEBRA H OF QUATERNIONS 445
In fact, since
ρY,Z = ρY,1 ◦ ρ1,Z ,
ρY,Z itself is a rotation, i.e. ρY,Z ∈ SO(4).
As a corollary of
ρY X = ρY ◦ ρX ,
it is easy to show that the map
ρ: SU(2) → SO(3)
defined such that ρ(Z) = ρZ is a surjective and continu-
ous homomorphism whose kernel is {1, −1}.
Thus, SO(3) and RP3 are at the same time, groups, topo-
logical spaces, and manifolds, and in fact they are Lie
groups (see Marsden and Ratiu [?] or Bryant [?]).
W W ) and I − W W ).
456 CHAPTER 10. THE QUATERNIONS, THE SPACES S 3 , SU(2), SO(3), AND RP3
Then, letting
2
b bc bd
B = W W ) = bc c2 cd ,
bd cd d2
the matrix R representing the rotation ρ is
Thus,
with
0 −d c
A= d 0 −b .
−c b 0
10.2. QUATERNIONS AND ROTATIONS IN SO(3) 459
A sin θ (1 − cos θ)
e = cos θ I + A+ B,
θ θ2
1
LZ RZ
N (Z)
a −b −c −d a b c d
1 b a −d c −b a −d c
= a −b −c d a −b
N (Z) c d
d −c b a −d −c b a
which yields
462 CHAPTER 10. THE QUATERNIONS, THE SPACES S 3 , SU(2), SO(3), AND RP3
N (Z) 0 0 0
1 0 a + b − c2 − d2
2 2
2bc − 2ad 2ac + 2bd
N (Z) 0 2bc + 2ad a − b2 + c2 − d2
2
−2ab + 2cd
0 −2ac + 2bd 2ab + 2cd a2 − b2 − c2 + d2
R(Z) =
, 2 2 2 2
-
1 a +b −c −d 2bc − 2ad 2ac + 2bd
2 2 2 2
2bc + 2ad a −b +c −d −2ab + 2cd
N (Z) −2ac + 2bd 2ab + 2cd a − b2 − c2 + d2
2
we can write
Z = a1 + bi + cj + dk = a1 + i(dσ1 + cσ2 + bσ3).
10.3. QUATERNIONS AND ROTATIONS IN SO(4) 467
The matrices σ1, σ2, σ3 are called the Pauli spin matri-
ces.
Note that their traces are null and that they are Hermi-
tian (recall that a complex matrix is Hermitian iff it is
equal to the transpose of its conjugate, i.e., A∗ = A).
Letting