| Hurwitz published a paper on a factorisation theory for integer quaternions in 1896 and applied it to the problem of representing an integer as the sum of four squares. |
| A few years later there was a debate between Heaviside and Peter Guthrie Tait about the relative merits of vector analysis and quaternions. |
| Notable mathematicians include Sir William Rowan Hamilton, famous for work in classical mechanics and the invention of quaternions. |
| His work in algebraic number theory led him to study the quaternions and generalisations such as Clifford algebras. |
| Maxwell expressed electromagnetism in the algebra of quaternions and made the electromagnetic potential the centrepiece of his theory. |
| If the desired result is to perform the smallest possible rotation between each pair of two orientations, you can preprocess the quaternions to achieve this. |
