Quaternions and
Complex Numbers
Dr. Scott Schaefer
1
Complex Numbers
n Defined by real and imaginary part
u a + bi where i = - 1
2/75
Complex Numbers
n Defined by real and imaginary part
u a + bi where i = - 1
(a + bi ) + (c + di ) = (a + c) + (b + d )i
3/75
Complex Numbers
n Defined by real and imaginary part
u a + bi where i = - 1
(a + bi ) + (c + di ) = (a + c) + (b + d )i
(a + bi )(c + di ) = ac + adi + bci + bdi 2
4/75
Complex Numbers
n Defined by real and imaginary part
u a + bi where i = - 1
(a + bi ) + (c + di ) = (a + c) + (b + d )i
(a + bi )(c + di ) = (ac - bd ) + (ad + bc)i
5/75
Complex Numbers
n Defined by real and imaginary part
u a + bi where i = - 1
x = a + bi x = a - bi
6/75
Complex Numbers
n Defined by real and imaginary part
u a + bi where i = - 1
x = a + bi x = a - bi
2
x x = (a + bi )(a - bi ) = a + b = x
2 2
7/75
Complex Numbers
n Defined by real and imaginary part
u a + bi where i = - 1
imaginary
( a, b)
real
8/75
Complex Numbers
n Defined by real and imaginary part
u a + bi where i = - 1
imaginary
( a, b)
real
9/75
Complex Numbers
n Defined by real and imaginary part
u a + bi where i = - 1
imaginary
a + bi = a 2 + b 2
( a, b)
real
10/75
Complex Numbers
n Defined by real and imaginary part
u a + bi where i = - 1
imaginary
a + bi = a 2 + b 2
( a, b)
q
real
11/75
Complex Numbers and Rotations
n Given a point (x,y), rotate that point about the
origin by q
12/75
Complex Numbers and Rotations
n Given a point (x,y), rotate that point about the
origin by q
æ xˆ ö æ cos(q ) - sin(q ) öæ x ö
çç ÷÷ = çç ÷÷çç ÷÷
è yˆ ø è sin(q ) cos(q ) øè y ø
13/75
Complex Numbers and Rotations
n Given a point (x,y), rotate that point about the
origin by q
æ xˆ ö æ cos(q ) - sin(q ) öæ x ö
çç ÷÷ = çç ÷÷çç ÷÷
è yˆ ø è sin(q ) cos(q ) øè y ø
( x + y i )(cos(q ) + sin(q ) i ) = ( x cos(q ) - y sin(q )) + ( x sin(q ) + y cos(q )) i
14/75
Complex Numbers and Rotations
n Given a point (x,y), rotate that point about the
origin by q
æ xˆ ö æ cos(q ) - sin(q ) öæ x ö
çç ÷÷ = çç ÷÷çç ÷÷
è yˆ ø è sin(q ) cos(q ) øè y ø
( x + y i )(cos(q ) + sin(q ) i ) = ( x cos(q ) - y sin(q )) + ( x sin(q ) + y cos(q )) i
Multiplication is rotation!!!
15/75
Quaternions – History
n Hamilton attempted to extend complex
numbers from 2D to 3D… impossible
n 1843 Hamilton discovered
a generalization to 4D and
wrote it on the side of a
bridge in Dublin
n One real part, 3 complex parts
16/75
Quaternions
i = -1
2
17/75
Quaternions
i = j = k = -1
2 2 2
18/75
Quaternions
i = j = k = -1
2 2 2
ij = k ji = -k jk = i kj = -i ki = j ik = - j
19/75
Quaternions
i = j = k = -1
2 2 2
ij = k ji = -k jk = i kj = -i ki = j ik = - j
q = ( s, v ) = s + v x i + v y j + v z k
20/75
Quaternion Multiplication
i = j = k = -1
2 2 2
ij = k ji = -k jk = i kj = -i ki = j ik = - j
q1 = ( s1 , v1 ) q 2 = ( s 2 , v2 )
21/75
Quaternion Multiplication
i = j = k = -1
2 2 2
ij = k ji = -k jk = i kj = -i ki = j ik = - j
q1 = ( s1 , v1 ) q 2 = ( s 2 , v2 )
q1q2 = ( s1s2 - v1 × v2 , s1v2 + s2 v1 + v1 ´ v2 )
22/75
Quaternion Multiplication
i = j = k = -1
2 2 2
ij = k ji = -k jk = i kj = -i ki = j ik = - j
q1 = ( s1 , v1 ) q 2 = ( s 2 , v2 )
q1q2 = ( s1s2 - v1 × v2 , s1v2 + s2 v1 + v1 ´ v2 )
q1q2 ¹ q2 q1
23/75
Quaternion Operations
i = j = k = -1
2 2 2
ij = k ji = -k jk = i kj = -i ki = j ik = - j
q = ( s ,-v )
24/75
Quaternion Operations
i = j = k = -1
2 2 2
ij = k ji = -k jk = i kj = -i ki = j ik = - j
q = ( s ,-v )
qq = ?
25/75
Quaternion Operations
i = j = k = -1
2 2 2
ij = k ji = -k jk = i kj = -i ki = j ik = - j
q = ( s ,-v )
q q = ( s * s - v × (-v), sv + s (-v) + v ´ v)
26/75
Quaternion Operations
i = j = k = -1
2 2 2
ij = k ji = -k jk = i kj = -i ki = j ik = - j
q = ( s ,-v )
2 2
qq = s + v = q
2
27/75
Quaternion Operations
i = j = k = -1
2 2 2
ij = k ji = -k jk = i kj = -i ki = j ik = - j
q -1q = 1
-1
q =?
28/75
Quaternion Operations
i = j = k = -1
2 2 2
ij = k ji = -k jk = i kj = -i ki = j ik = - j
q -1q = 1
-1 q
q =
| q |2
29/75
Quaternion Operations
i = j = k = -1
2 2 2
ij = k ji = -k jk = i kj = -i ki = j ik = - j
2
q q q | q |
q -1q = 2
q= 2
= 2
=1
|q| |q| |q|
30/75
Quaternions and Rotations
n Claim: unit quaternions represent 3D rotation
31/75
Quaternions and Rotations
n Claim: unit quaternions represent 3D rotation
p = (0, r )
32/75
Quaternions and Rotations
n Claim: unit quaternions represent 3D rotation
p = (0, r )
q = (cos(q ), sin(q )v) where v = 1
33/75
Quaternions and Rotations
n Claim: unit quaternions represent 3D rotation
p = (0, r )
q = (cos(q ), sin(q )v) where v = 1
(0, v) (0, v ´ v ^ )
(1,0) (0, v ^ )
34/75
Quaternions and Rotations
n Claim: unit quaternions represent 3D rotation
p = (0, v)
q = (cos(q ), sin(q )v) where v = 1
(0, v) (0, v ´ v ^ )
(1,0) (0, v ^ )
35/75
Quaternions and Rotations
n Claim: unit quaternions represent 3D rotation
p = (0, v)
q = (cos(q ), sin(q )v) where v = 1
qp = (cos(q ), sin(q )v)(0, v) = (- sin(q ), cos(q )v)
(0, v) (0, v ´ v ^ )
qp
q
(1,0) (0, v ^ )
36/75
Quaternions and Rotations
n Claim: unit quaternions represent 3D rotation
p = (0, v)
q = (cos(q ), sin(q )v) where v = 1
pq = (0, v)(cos(q ), sin(q )v) = (- sin(q ), cos(q )v)
(0, v) (0, v ´ v ^ )
pq
q
(1,0) (0, v ^ )
37/75
Quaternions and Rotations
n Claim: unit quaternions represent 3D rotation
^
p = (0, v )
q = (cos(q ), sin(q )v) where v = 1
(0, v) (0, v ´ v ^ )
(1,0) (0, v ^ )
38/75
Quaternions and Rotations
n Claim: unit quaternions represent 3D rotation
^
p = (0, v )
q = (cos(q ), sin(q )v) where v = 1
qp = (cos(q ),sin(q )v)(0,v ^ ) = (0,cos(q )v ^ + sin(q )v´v ^ )
(0, v) (0, v ´ v ^ )
qp
q
(1,0) (0, v ^ )
39/75
Quaternions and Rotations
n Claim: unit quaternions represent 3D rotation
^
p = (0, v )
q = (cos(q ), sin(q )v) where v = 1
pq = (0, v ^ )(cos(q ), sin(q )v) = (0, cos(q )v ^ - sin(q )v ´ v ^ )
(0, v) (0, v ´ v ^ )
(1,0) q
(0, v ^ )
pq
40/75
Quaternions and Rotations
n Claim: unit quaternions represent 3D rotation
p = (0, r )
q = (cos(q ), sin(q )v) where v = 1
(0, v) (0, v ´ v ^ )
(0,v)q = q (0,v) q (0, v ^ )
q
q (0, v ^ )
(1,0) q
(0, v ^ )q
41/75
Quaternions and Rotations
n Claim: unit quaternions represent 3D rotation
p = (0, r )
q = (cos(q ), sin(q )v) where v = 1
qp
(0, v) (0, v ´ v ^ )
qp p p q (0, v ^ )
q qp
q
(1,0) (0, v ^ )
42/75
Quaternions and Rotations
n Claim: unit quaternions represent 3D rotation
p = (0, r )
q = (cos(-q ),sin(-q )v) where v =1
(qp )q
(0, v) (0, v ´ v ^ )
qp p = (qp )q
p q (0, v ^ )
q qp
(1,0) q
(0, v ^ )
(qp )q
43/75
Quaternions and Rotations
n The quaternion representing rotation about
the unit axis v by q is q = (cos(q 2 ),sin(q 2 )v)
q (0, r )q
44/75
Quaternions and Rotations
n The quaternion representing rotation about
the unit axis v by q is q = (cos(q 2 ),sin(q 2 )v)
q (0, r )q
n To convert to matrix, assume q=(s,v) and
|q|=1
æ1 - 2v y 2 - 2v z 2 2v x v y - 2 sv z 2v x v z + 2 sv y 0ö
ç ÷
ç 2v x v y + 2 sv z 1 - 2v x 2 - 2v z 2 2v y v z - 2 sv x 0÷
ç 2 2 ÷
2 v
ç x z v - 2 sv y 2 v v
y z + 2 sv x 1 - 2 v x - 2v y 0÷
ç 0 0 0 1 ÷ø
è
45/75
Quaternions vs. Matrices
n Quaternions take less space (4 numbers vs. 9
for matrices)
n Rotating a vector requires 28 multiplications
using quaternions vs. 9 for matrices
n Composing two rotations using quaternions
q1q2 requires 16 multiples vs. 27 for matrices
n Quaternions are typically not hardware
accelerated whereas matrices are
46/75
Quaternions and Interpolation
n Given two orientations q1 and q2, find the
orientation halfway between
47/75
Quaternions and Interpolation
n Given two orientations q1 and q2, find the
orientation halfway between
48/75
Quaternions and Interpolation
n Unit quaternions represent points on a 4D
hyper-sphere
n Interpolation on the sphere gives rotations
that bend the least
49/75
Quaternions and Interpolation
n Unit quaternions represent points on a 4D
hyper-sphere
n Interpolation on the sphere gives rotations
that bend the least
sin(q (1 - t ))q1 + sin(q t )q2
q (t ) = where cos -1 (q1 × q2 ) = q
sin(q )
50/75
Quaternions and Interpolation
n Unit quaternions represent points on a 4D
hyper-sphere
n Interpolation on the sphere gives rotations
that bend the least
n May need to interpolate between q1 and q2
sin(q (1 - t ))q1 + sin(q t )q2
q (t ) = where cos -1 (q1 × q2 ) = q
sin(q )
51/75
Quaternions and Interpolation
Quaternion Interpolation
52/75
Quaternions and Interpolation
Quaternion Interpolation
53/75
Quaternions and Interpolation
Quaternion Interpolation
54/75
Quaternions and Interpolation
Quaternion Interpolation
55/75
Quaternions and Interpolation
Quaternion Interpolation
56/75
Quaternions and Interpolation
Quaternion Interpolation
57/75
Quaternions and Interpolation
Euler Angle Interpolation
58/75
Quaternions and Interpolation
Euler Angle Interpolation
59/75
Quaternions and Interpolation
Euler Angle Interpolation
60/75
Quaternions and Interpolation
Euler Angle Interpolation
61/75
Quaternions and Interpolation
Euler Angle Interpolation
62/75
Quaternions and Interpolation
Euler Angle Interpolation
63/75
Quaternions and Interpolation
Quaternion Interpolation Euler Angle Interpolation
64/75
Quaternions and Interpolation
Quaternion Interpolation Euler Angle Interpolation
65/75
Quaternions and Interpolation
Quaternion Interpolation Euler Angle Interpolation
66/75
Quaternions and Interpolation
Quaternion Interpolation Euler Angle Interpolation
67/75
Quaternions and Interpolation
Quaternion Interpolation Euler Angle Interpolation
68/75
Quaternions and Interpolation
Quaternion Interpolation Euler Angle Interpolation
69/75
Quaternions and Interpolation
Quaternion Interpolation Euler Angle Interpolation
70/75
Quaternions and Interpolation
Quaternion Interpolation Euler Angle Interpolation
71/75
Quaternions and Interpolation
Quaternion Interpolation Euler Angle Interpolation
72/75
Quaternions and Interpolation
Quaternion Interpolation Euler Angle Interpolation
73/75
Quaternions and Interpolation
Quaternion Interpolation Euler Angle Interpolation
74/75
Quaternions and Interpolation
Quaternion Interpolation Euler Angle Interpolation
75/75
76/75
Exponential Forms
n Euler’s formula
qi
u re = r (cos(q ) + sin(q )i )
imaginary
r
q
real
77/75
Quaternions in Exponential Form
eqv = (cos(q ), sin(q )v)
78/75
