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+1  Q: 

the logarithm of quaternion

i'm reading <<3D math primer for graphics and game development>> By Fletcher Dunn and Ian Parberry, on page 170, the logarithm of quaternion is defined as

log q = log([cosa nsina]) ≡ [0 an]

i don't see how does log([cosa nsina]) equals to [0 an], can anyone help me out?

thanks.

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