Vespa-Pulse User Manual
Two typical ways of describing rotations in three-dimensional space are: via 3 x 3 orthogonal rotation matrices and 3 x I vectors, i.e. via the special orthogonal 3D group SO(3) via 2 x 2 unitary matrices, and 2 x 1 complex vectors called spinors, i.e. via the special unitary group SU(2) (Pauly et al.1991). ................
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