In mathematics, a versor is a quaternion whose norm is one, also known as a unit quaternion. Each versor has the form u = exp ( a r ) = cos a + r sin a , r 2 = − 1 , a ∈ [ 0 , π ] , {\displaystyle \ u=\exp(a\mathbf {r} )=\cos a+\mathbf {r} \sin a,\qquad \mathbf {r} ^{2}=-1,\qquad a\in [0,\pi ]\ ,} where the condition r 2 = − 1 {\displaystyle \ \mathbf {r} ^{2}=-1\ } means that r {\displaystyle \ \mathbf {r} \ } is an algebraic imaginary unit.
In mathematics, a versor is a quaternion whose norm is one, also known as a unit quaternion. Each versor has the form u = exp ( a r ) = cos a + r sin a , r 2 = − 1 , a ∈ [ 0 , π ] , {\displaystyle \ u=\exp(a\mathbf {r} )=\cos a+\mathbf {r} \sin a,\qquad \mathbf {r} ^{2}=-1,\qquad a\in [0,\pi ]\ ,} where the condition r 2 = − 1 {\displaystyle \ \mathbf {r} ^{2}=-1\ } means that r {\displaystyle \ \mathbf {r} \ } is an algebraic imaginary unit.
Source: Wikipedia "Versor" · CC BY-SA 4.0
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