Quaternions, $\mathbb{H}$ are a number system like real or complex numbers but with 4 dimensions. In particular, $\mathbb{H}$ is nothing but $\mathbb{R}^4$ together with a multiplication law. The identification of $\mathbb{H}$ and $\mathbb{R}^4$ is given by: $$ \mathbb{H} = \lbrace … Continue reading Quaternions