Quaternion and interpolation-Blog for 15464(Technical Animation) -3

I spent some time thereafter to get myself through the rotations represented by quaternions. The interpolation of rotations is the process of finding the geodesic curve on S3(3D-Sphere in 4D-space). It reminds me of the paper I am going to represent in the next week. The interpolation of affine transformation can be similarly done since the affine group has Lie structure and therefore can be viewed as a manifold. And the exponential map can be applied to find the geodesics on the manifold.