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[[User:Paolo.dL|Paolo.dL]] 21:29, 22 August 2007 (UTC)
== Derivation of Rotation Matrix from Quaternions ==
The derivation section does not derive anything actually, it just proves that the double sided multiplication could be a rotation operation. But there is no clue why this should really be a calculation. And it simply says "it turns out that a=cos(alpha/2)". Isn't there any complete derivation of double sided quaternion multiplication as 3D rotation? One can't simply say that complex multiplication is rotation so that quaternion multiplication should also be a rotation... <small>—Preceding [[Wikipedia:Signatures|unsigned]] comment added by [[Special:Contributions/130.225.73.232|130.225.73.232]] ([[User talk:130.225.73.232|talk]]) 14:54, 19 December 2007 (UTC)</small><!-- Template:UnsignedIP --> <!--Autosigned by SineBot-->
:Section being discussed: [[Quaternions_and_spatial_rotation#Quaternion-derived_rotation_matrix]]. If anyone can provide a reference to an actual derivation of a rotation matrix from a quaternion transformation, please do so in the section. [[User:WinterSpw|WinterSpw]] ([[User talk:WinterSpw|talk]]) 15:12, 5 July 2016 (UTC)
== Matrix to Quaternion Conversion ==
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