MathSciNet bibliographic data

MR1670862 (2000c:70003) 70B10 (70E15 70M20 70Q05) Kuipers, Jack B. Quaternions and rotation sequences. A primer with applications to orbits, aerospace, and virtual reality. Princeton University Press, Princeton, NJ, 1999. xxii+572 pp. ISBN: 0-691-05872-5

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