Which statement is true about quaternion-based rigid spatial transformations? a.

Question

Which statement is true about quaternion-based rigid spatial transformations?

a. A quaternion consists of a 4-vector, with one scalar coordinate coinciding with the real part, and with three imaginary coordinates.

b. There is no conversion possible going from a quaternion representation of a rotation to a matrix representation.

c. There is no conversion possible going from a matrix representation of a rotation to a quaternion representation.

d. There is a geometric interpretation of a quaternion based on an axis-angle representation of rotation.

e. Two or more of the above four statements are true.

Explanation / Answer

e. Two or more of the above four statements are true.

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