Concise description of why rotation quaternions use half the angle - Mathematics Stack Exchange
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3DRotations
Hamilton's quaternions and 3D rotation with Python – Meccanismo Complesso
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Mathematics | Free Full-Text | Kinematics in the Information Age
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3DRotations
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Conversion between quaternions and Euler angles - Wikipedia
Hamilton's quaternions and 3D rotation with Python – Meccanismo Complesso
