BinaryBob

Heydi ho everyone, I was doing some differentiation of quaternions, and if I have a quaternion, I can translate a point, e.g. pos = q t q* where t = q(0,x,y,z) simple, yes? If I have the exponent of the quaternion, the axis-angle (w). so my quaternions are q(w) and q(w)*. What would be the change in position with change in axis-angle (i.e., the exponential). d( q(w) t q(w)* ) / dw = ?? If that makes sense? Thanx, Bob