Quaternion Conventions
| Quaternion type | Hamilton | $JPL$ | |
|---|---|---|---|
| 1 | Components s order | $( q_w$ , $\mathbf{q} _v)$ | $\left(\mathbf{q}_v\:,\:\right.$ $q_w)$ |
| 2 | $\operatorname{Algebra}$ Handedness | $ij=k$ Right- handed | $ij=$ $=-k$ Left- handed |
| 3 | Function | Passive | $\mathrm{P}_{\xi}$ assive |
| Right- to- left products mean | Local- to- Global | Global-to-Local | |
| 4 | Default operation | $\mathbf{X}_{G}$ $\mathbf{X}_{\mathcal{L}}$ 水 = $\mathbf{q}$ $\mathbf{q}$ | $\mathbf{X}_{C}$ 三 T $\mathbf{X}_{G}$ |