Quaternions #
In this file we define quaternions ℍ[R] over a commutative ring R, and define some
algebraic structures on ℍ[R].
Main definitions #
QuaternionAlgebra R a b c,ℍ[R, a, b, c]: [Bourbaki, Algebra I][bourbaki1989] with coefficientsa,b,c(Many other references such as Wikipedia assume $\operatorname{char} R ≠ 2$ therefore one can complete the square and WLOG assume $b = 0$.)Quaternion R,ℍ[R]: the space of quaternions, a.k.a.QuaternionAlgebra R (-1) (0) (-1);Quaternion.normSq: square of the norm of a quaternion;
We also define the following algebraic structures on ℍ[R]:
Ring ℍ[R, a, b, c],StarRing ℍ[R, a, b, c], andAlgebra R ℍ[R, a, b, c]: for any commutative ringR;Ring ℍ[R],StarRing ℍ[R], andAlgebra R ℍ[R]: for any commutative ringR;IsDomain ℍ[R]: for a linear ordered commutative ringR;DivisionRing ℍ[R]: for a linear ordered fieldR.
Notation #
The following notation is available with open Quaternion or open scoped Quaternion.
ℍ[R, c₁, c₂, c₃]:QuaternionAlgebra R c₁ c₂ c₃ℍ[R, c₁, c₂]:QuaternionAlgebra R c₁ 0 c₂ℍ[R]: quaternions overR.
Implementation notes #
We define quaternions over any ring R, not just ℝ to be able to deal with, e.g., integer
or rational quaternions without using real numbers. In particular, all definitions in this file
are computable.
Tags #
quaternion
Quaternion algebra over a type with fixed coefficients where $i^2 = a + bi$ and $j^2 = c$,
denoted as ℍ[R,a,b].
Implemented as a structure with four fields: re, imI, imJ, and imK.
- re : R
Real part of a quaternion.
- imI : R
First imaginary part (i) of a quaternion.
- imJ : R
Second imaginary part (j) of a quaternion.
- imK : R
Third imaginary part (k) of a quaternion.
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The equivalence between a quaternion algebra over R and R × R × R × R.
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The equivalence between a quaternion algebra over R and Fin 4 → R.
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The imaginary part of a quaternion.
Note that unless c₂ = 0, this definition is not particularly well-behaved;
for instance, QuaternionAlgebra.star_im only says that the star of an imaginary quaternion
is imaginary under this condition.
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Coercion R → ℍ[R,c₁,c₂,c₃].
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Multiplication is given by
1 * x = x * 1 = x;i * i = c₁ + c₂ * i;j * j = c₃;i * j = k,j * i = c₂ * j - k;k * k = - c₁ * c₃;i * k = c₁ * j + c₂ * k,k * i = -c₁ * j;j * k = c₂ * c₃ - c₃ * i,k * j = c₃ * i.
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QuaternionAlgebra.re as a LinearMap
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QuaternionAlgebra.imI as a LinearMap
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QuaternionAlgebra.imJ as a LinearMap
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QuaternionAlgebra.imK as a LinearMap
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QuaternionAlgebra.equivTuple as a linear equivalence.
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ℍ[R, c₁, c₂, c₃] has a basis over R given by 1, i, j, and k.
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There is a natural equivalence when swapping the first and third coefficients of a
quaternion algebra if c₂ is 0.
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Quaternion conjugate.
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A version of star_smul for the special case when c₂ = 0, without SMulCommClass S R R.
Quaternion conjugate as an AlgEquiv to the opposite ring.
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Space of quaternions over a type, denoted as ℍ[R].
Implemented as a structure with four fields: re, im_i, im_j, and im_k.
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Coercion R → ℍ[R].
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The imaginary part of a quaternion.
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Square of the norm.
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The cardinality of a quaternion algebra, as a type.
Show the quaternion ⟨w, x, y, z⟩ as a string "{ re := w, imI := x, imJ := y, imK := z }".
For the typical case of quaternions over ℝ, each component will show as a Cauchy sequence due to the way Real numbers are represented.