BSNS102 Study Guide - Final Guide: Cross Product, Dot Product, Global Positioning System
28 Jan 2021
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Because of this backwardness resulting from equation 10. 9, in this book and in our code, we will deviate from the standard definition and define quaternion multiplication with the operands in the opposite order. Notice that only the vector cross product portion is affected: Definition of quaternion multiplication used in this book. We see that the product representing the concatenation of multiple rotations does, indeed, read from left to right in the order that rotations occur: For the remainder of this book, and in all the code, we will use the definition of quaternion multi- plication given above in equation 10. 13. To minimize confusion, we will always point out any area where this deviation from the standard will cause our equations or code to differ from other texts. We do not take this deviation from the standard lightly, and we have done it for very good rea- son.
