Quaternion

The quaternion number system, first described by William Rowan Hamilton in 1843, extends the complex numbers.

A quaternion usually takes the form:

$a + bi + cj + dk$

Where $a,b,c,d$ are real coefficients of $1,i,j,k$.

$\displaystyle i^2 = j^2 = k^2 = ijk = -1$

$q = (w,x,y,z)$

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