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A general framework for representing continuous sets of frames with the unit quaternion representation is presented. The determination and control of the attitude of a rigid body is important in a wide range of applications and has been given much attention in the control community. Not always, however, must the desired attitude be restricted to one given orientation, but can be given as a discrete or continuous set of orientations subject to some restriction. An attitude can be represented bydoi:10.1109/acc.2007.4282319 dblp:conf/acc/FromG07 fatcat:cgyfzmfrp5ardaghekqye5tmwu