Quaternions and spatial rotationUnit quaternions, known as versors, provide a convenient mathematical notation for representing spatial orientations and rotations of elements in three dimensional space. Specifically, they encode information about an axis-angle rotation about an arbitrary axis. Rotation and orientation quaternions have applications in computer graphics, computer vision, robotics, navigation, molecular dynamics, flight dynamics, orbital mechanics of satellites, and crystallographic texture analysis.
QuaternionIn mathematics, the quaternion number system extends the complex numbers. Quaternions were first described by the Irish mathematician William Rowan Hamilton in 1843 and applied to mechanics in three-dimensional space. Hamilton defined a quaternion as the quotient of two directed lines in a three-dimensional space, or, equivalently, as the quotient of two vectors. Multiplication of quaternions is noncommutative. Quaternions are generally represented in the form where a, b, c, and d are real numbers; and 1, i, j, and k are the basis vectors or basis elements.
Special unitary groupIn mathematics, the special unitary group of degree n, denoted SU(n), is the Lie group of n × n unitary matrices with determinant 1. The matrices of the more general unitary group may have complex determinants with absolute value 1, rather than real 1 in the special case. The group operation is matrix multiplication. The special unitary group is a normal subgroup of the unitary group U(n), consisting of all n×n unitary matrices. As a compact classical group, U(n) is the group that preserves the standard inner product on .
SpinorIn geometry and physics, spinors spɪnɚ are elements of a complex number-based vector space that can be associated with Euclidean space. A spinor transforms linearly when the Euclidean space is subjected to a slight (infinitesimal) rotation, but unlike geometric vectors and tensors, a spinor transforms to its negative when the space rotates through 360° (see picture). It takes a rotation of 720° for a spinor to go back to its original state.
Point groupIn geometry, a point group is a mathematical group of symmetry operations (isometries in a Euclidean space) that have a fixed point in common. The coordinate origin of the Euclidean space is conventionally taken to be a fixed point, and every point group in dimension d is then a subgroup of the orthogonal group O(d). Point groups are used to describe the symmetries of geometric figures and physical objects such as molecules. Each point group can be represented as sets of orthogonal matrices M that transform point x into point y according to y = Mx.
Gamma matricesIn mathematical physics, the gamma matrices, also called the Dirac matrices, are a set of conventional matrices with specific anticommutation relations that ensure they generate a matrix representation of the Clifford algebra It is also possible to define higher-dimensional gamma matrices. When interpreted as the matrices of the action of a set of orthogonal basis vectors for contravariant vectors in Minkowski space, the column vectors on which the matrices act become a space of spinors, on which the Clifford algebra of spacetime acts.
Covering spaceA covering of a topological space is a continuous map with special properties. Let be a topological space. A covering of is a continuous map such that there exists a discrete space and for every an open neighborhood , such that and is a homeomorphism for every . Often, the notion of a covering is used for the covering space as well as for the map . The open sets are called sheets, which are uniquely determined up to a homeomorphism if is connected. For each the discrete subset is called the fiber of .
Circle groupIn mathematics, the circle group, denoted by or , is the multiplicative group of all complex numbers with absolute value 1, that is, the unit circle in the complex plane or simply the unit complex numbers The circle group forms a subgroup of , the multiplicative group of all nonzero complex numbers. Since is abelian, it follows that is as well. A unit complex number in the circle group represents a rotation of the complex plane about the origin and can be parametrized by the angle measure : This is the exponential map for the circle group.
Symplectic groupIn mathematics, the name symplectic group can refer to two different, but closely related, collections of mathematical groups, denoted Sp(2n, F) and Sp(n) for positive integer n and field F (usually C or R). The latter is called the compact symplectic group and is also denoted by . Many authors prefer slightly different notations, usually differing by factors of 2. The notation used here is consistent with the size of the most common matrices which represent the groups.
Fundamental representationIn representation theory of Lie groups and Lie algebras, a fundamental representation is an irreducible finite-dimensional representation of a semisimple Lie group or Lie algebra whose highest weight is a fundamental weight. For example, the defining module of a classical Lie group is a fundamental representation. Any finite-dimensional irreducible representation of a semisimple Lie group or Lie algebra can be constructed from the fundamental representations by a procedure due to Élie Cartan.
3D rotation groupIn mechanics and geometry, the 3D rotation group, often denoted SO(3), is the group of all rotations about the origin of three-dimensional Euclidean space under the operation of composition. By definition, a rotation about the origin is a transformation that preserves the origin, Euclidean distance (so it is an isometry), and orientation (i.e., handedness of space). Composing two rotations results in another rotation, every rotation has a unique inverse rotation, and the identity map satisfies the definition of a rotation.
Dynkin diagramIn the mathematical field of Lie theory, a Dynkin diagram, named for Eugene Dynkin, is a type of graph with some edges doubled or tripled (drawn as a double or triple line). Dynkin diagrams arise in the classification of semisimple Lie algebras over algebraically closed fields, in the classification of Weyl groups and other finite reflection groups, and in other contexts. Various properties of the Dynkin diagram (such as whether it contains multiple edges, or its symmetries) correspond to important features of the associated Lie algebra.
