理解四元数

Dual Quaternion = Quaternion + Dual Number

• Screw theory
• Spatial Algebra
• Lie theory

References

• Exponentially Better Rotations
• Slerp Wiki
• Quaternions, Interpolation and Animation
• Visualizing quaternions
• Dual quaternion
• Dual-Quaternions
• A Beginners Guide to Dual-Quaternions