Although I have used them at work, I don't understand quaternions. How were they discovered intuitively? How do they work? Can anyone recommend a good book on quaternions?
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$\begingroup$For the question "How were they discovered intuitively ?" and "How do they work ?", you may read this.
For understanding the subject, you may also follow
$1.~~$ "A Primer of Quaternions" by Arthur Stafford Hathaway
$2.~~$ "Quaternions and Rotation Sequences – A Primer with Applications to Orbits, Aerospace and Virtual Reality" by J. B. Kuipers
$3.~~$ "Visualizing Quaternions" by Andrew J Hanson
$4.~~$ and the references there in.
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