Figure 3.

Points in a $\overline{\mathit{q}}$-centered chart are transformed using the transition map defined by each chart, and travel to the chart centered in the quaternion mapped with ${\mathbf{e}}^{\overline{\mathit{q}}}={(1,1,0)}^T$ in the previous chart. (a) ${\mathbb{R}}^2$; (b) O; (c) RP; (d) MRP; (e) RV.