Commit 2023-02-24 11:52 d90149e9
View on Github →feat(algebra/quaternion): add quaternion.im
for the skew-adjoint part (#18456)
As requested by @YaelDillies, as prework for #18349 where I need to split the quaternion into real and imaginary parts.
Only one marginally interesting lemma is included, im_sq
which says q.im^2 = -norm_sq q.im