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 University Press,  1999. 
 - xxii, 371 p. :  ill. ;  26 cm. 
<br/><br/>Includes bibliographical references (p. 365-366) and index. 
<br/><br/><label>ISBN: </label>0691058725 (cloth : alk. paper)  RM319.59 0691102988 (pbk) 
<br/><br/><label>Subjects--Topical Terms: </label><br/>Quaternions.