A quaternion is a mathematical entity that extends complex numbers, represented as a four-dimensional vector. It consists of one real part and three imaginary parts, typically denoted as $$q = a + bi + cj + dk$$, where $$a$$ is the real component and $$b$$, $$c$$, and $$d$$ are the coefficients of the imaginary units $$i$$, $$j$$, and $$k$$ respectively. Quaternions are particularly useful in representing rotations in three-dimensional space, which connects them to rotors and their properties.
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