四元数

1. https://www.3dgep.com/understanding-quaternions/

2. https://www.qiujiawei.com/understanding-quaternions/

3. https://www.qiujiawei.com/quaternion2/

 

4. https://blog.csdn.net/candycat1992/article/details/41254799   四元数（Quaternion）和旋转

5. https://blog.csdn.net/xiaoma_bk/article/details/79082629

 

6. https://blog.csdn.net/lql0716/article/details/72597719     四元数和旋转矩阵转换推导

7. https://en.wikipedia.org/wiki/Rodrigues%27_rotation_formula 罗德里格斯公式推导