Factorization and generalized roots of dual complex matrices with Rodrigues' formula (Q2173659)

This paper considers some computational problems in the group \(\mathrm{SO}(3)\) and losely related groups, including computation of nonintegral powers of matrices and factorization of matrices into products of reflections (Euler decompositions). The author uses Rodrigues' parametrization of \(\mathrm{SO}(3)\) by elements of the unit group \(\mathbb{H}^{\times}\) of the quaternions and Cayley's parametrization by skew-symmetric matrices. With engineering applications in mind the arguments are detailed with attention to exceptional cases which may arise.