Kuipers, Jack B.  1921- <br/><br/>
Quaternions and rotation sequences :  a primer with applications to orbits, aerospace, and virtual reality / 
Jack B. Kuipers. 
 - Princeton, N.J. :  Princeton Univ. Press,  2002. 
 - 371 p. :  ill. 
<br/><br/>Includes bibliographical references and index 
<br/><br/><label>ISBN: </label>0691102988 
<br/><br/><label>Subjects--Topical Terms: </label><br/>Quaternions
<br/><br/><label>LC Class. No.: </label>QA 196  / K846Q