Quaternion Conventions

11 Sep 2024

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	Quaternion type	Hamilton	$JPL$
1	Components s order	$(q_w$ , ${\mathbf{q}}_v)$	$({\mathbf{q}}_v,$ $q_w)$
2	$\mathrm{Algebra}$ 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 ${\mathbf{X}}_G$

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