Dual Quaternions and Their Associated Clifford Algebras

Collecting all the associated formulas and theorems in one place, this book provides an extensive and rigorous treatment of dual quaternions, as well as showing how two models of Clifford algebra emerge naturally from the theory of dual quaternions. Each section comes complete with a set of exercises to help readers sharpen and practice their understanding. This book is accessible to anyone with a basic knowledge of quaternion algebra and is of particular use to forward-thinking members of the computer graphics community.