It takes its name from Broome Bridge, which crosses the canal, a place best known as where William Rowan Hamilton discovered the mathematical notion of quaternions.
Actually this simple use of "quaternions" was first presented by Euler some seventy years earlier than Hamilton to solve the problem of magic squares.
At the International Congress of Mathematicians in 1912 at Cambridge, Silberstein spoke on "Some applications of quaternions".
Quaternion math may also be used but that is outside the scope of this article.
The Toolbox provides functions for manipulating and converting between datatypes such as: vectors;homogeneous transformations; roll-pitch-yaw and Euler angles and unit-quaternions which are necessary to represent 3-dimensional position and orientation.
This algebra admits a convenient description, due to William Rowan Hamilton, by means of quaternions.