Quaternions and spatial rotationUnit quaternions, known as versors, provide a convenient mathematical notation for representing spatial orientations and rotations of elements in three dimensional space. Specifically, they encode information about an axis-angle rotation about an arbitrary axis. Rotation and orientation quaternions have applications in computer graphics, computer vision, robotics, navigation, molecular dynamics, flight dynamics, orbital mechanics of satellites, and crystallographic texture analysis.
Great circleIn mathematics, a great circle or orthodrome is the circular intersection of a sphere and a plane passing through the sphere's center point. Any arc of a great circle is a geodesic of the sphere, so that great circles in spherical geometry are the natural analog of straight lines in Euclidean space. For any pair of distinct non-antipodal points on the sphere, there is a unique great circle passing through both. (Every great circle through any point also passes through its antipodal point, so there are infinitely many great circles through two antipodal points.
Apollonian circlesIn geometry, Apollonian circles are two families (pencils) of circles such that every circle in the first family intersects every circle in the second family orthogonally, and vice versa. These circles form the basis for bipolar coordinates. They were discovered by Apollonius of Perga, a renowned Greek geometer. The Apollonian circles are defined in two different ways by a line segment denoted CD.
Rotation around a fixed axisRotation around a fixed axis or axial rotation is a special case of rotational motion around a axis of rotation fixed, stationary, or static in three-dimensional space. This type of motion excludes the possibility of the instantaneous axis of rotation changing its orientation and cannot describe such phenomena as wobbling or precession. According to Euler's rotation theorem, simultaneous rotation along a number of stationary axes at the same time is impossible; if two rotations are forced at the same time, a new axis of rotation will result.
Dual quaternionIn mathematics, the dual quaternions are an 8-dimensional real algebra isomorphic to the tensor product of the quaternions and the dual numbers. Thus, they may be constructed in the same way as the quaternions, except using dual numbers instead of real numbers as coefficients. A dual quaternion can be represented in the form A + εB, where A and B are ordinary quaternions and ε is the dual unit, which satisfies ε2 = 0 and commutes with every element of the algebra. Unlike quaternions, the dual quaternions do not form a division algebra.
Rigid bodyIn physics, a rigid body, also known as a rigid object, is a solid body in which deformation is zero or negligible. The distance between any two given points on a rigid body remains constant in time regardless of external forces or moments exerted on it. A rigid body is usually considered as a continuous distribution of mass. In the study of special relativity, a perfectly rigid body does not exist; and objects can only be assumed to be rigid if they are not moving near the speed of light.
Classical Hamiltonian quaternionsWilliam Rowan Hamilton invented quaternions, a mathematical entity in 1843. This article describes Hamilton's original treatment of quaternions, using his notation and terms. Hamilton's treatment is more geometric than the modern approach, which emphasizes quaternions' algebraic properties. Mathematically, quaternions discussed differ from the modern definition only by the terminology which is used. Hamilton defined a quaternion as the quotient of two directed lines in tridimensional space; or, more generally, as the quotient of two vectors.
SaccadeA saccade (səˈkɑːd , French for jerk) is a quick, simultaneous movement of both eyes between two or more phases of fixation in the same direction. In contrast, in smooth pursuit movements, the eyes move smoothly instead of in jumps. The phenomenon can be associated with a shift in frequency of an emitted signal or a movement of a body part or device. Controlled cortically by the frontal eye fields (FEF), or subcortically by the superior colliculus, saccades serve as a mechanism for fixation, rapid eye movement, and the fast phase of optokinetic nystagmus.
Newton's laws of motionNewton's laws of motion are three basic laws of classical mechanics that describe the relationship between the motion of an object and the forces acting on it. These laws can be paraphrased as follows: A body remains at rest, or in motion at a constant speed in a straight line, unless acted upon by a force. When a body is acted upon by a force, the time rate of change of its momentum equals the force. If two bodies exert forces on each other, these forces have the same magnitude but opposite directions.
Circles of ApolloniusThe circles of Apollonius are any of several sets of circles associated with Apollonius of Perga, a renowned Greek geometer. Most of these circles are found in planar Euclidean geometry, but analogs have been defined on other surfaces; for example, counterparts on the surface of a sphere can be defined through stereographic projection. The main uses of this term are fivefold: Apollonius showed that a circle can be defined as the set of points in a plane that have a specified ratio of distances to two fixed points, known as foci.
