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Figure 12
(a) The 3D portions of the quaternion reference-frame data q = (q0, qx, qy, qz), using different colors for q0 ≥ 0 and q0 < 0 in the unseen direction. Since [|q_{{0}}| = (1-{{q_{{x}}}^{2}-{q_{{y}}}^{2}-{q_{{z}}}^{2}} )^{1/2}], the complete quaternion can in principle be determined from the 3D display. (b) The 3D orientation-frame triads for each reference point (q0, qx, qy, qz) displayed at their associated q = (qx, qy, qz).

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