[Insight-developers] Quaternions document

[Luis Ibanez]

A Tutorial on Quaternions
has been checked in under

 InsightDocuments/Developer/General

  QuaternionsI.pdf
  QuaternionsII.pdf

It is presented in slides format.
It has two parts, one introducing
the geometrical concepts and terms,
and a second introducing the concept
of derivatives of quaternion functions
and optimization over the space of
rotations.

Those concepts will be used for
the itkQuaterionsTranslationTransform
class.

Most of this material could be converted
into a chapter in the Algorithms guide.

The next concept to introduce are
"screws" which combine the notion of
unit quaternions with translations.

Screws are in principle the appropriated
transform to describe Rigid motion in 3D.



Luis


-- 
Luis Ibanez                                      CB#:   7060
Research Assistan Professor                      phone: (919) 843 5436
Division of Neurosurgery                         fax:   (919) 966 6627
University of North Carolina at Chapel Hill      email: ibanez@cs.unc.edu
Chapel Hill, NC 27599-7060                       http://www.cs.unc.edu/~ibanez