Suppose I have two rotation matrices $R_i$ and $R_j$, what is the geometric interpretation of the norm of the log-quaternion of $R_i\cdot R_j^T$? I only have a very rudimentary understanding of the algebra behind quaternions.
2026-03-25 21:54:12.1774475652
What is the geometric interpretation of the norm of a log-quaternion?
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