Quaternions to represent rotation David Erickson, Defence Research and Development Canada (DRDC), Complete derivation of rotation matrix from unitary quaternion
beautifully illustrated discussion of covering spaces. See Section 3D for the topology of rotation groups. Naber, Gregory (1992). The Geometry of Minkowski Spacetime
Discoverers”. Working Group for Planetary System Nomenclature. International Astronomical Union. 2019年3月1日閲覧。 ^ Seligman, Courtney. “Rotation Period and Day