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Math for parenting quaternions?

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I need to parent one quaternions rotations to another. I cannot find any page concerning the math behind this, could anyone point me in the right direction?

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Use them like matrices. Prepend the parent's inverse to the intended child quaternion.

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how would you prepend?

and what would doing that do exactly?

excuse my noobism, but I only just started to grasp quaternions in the past 12 hours...

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Quaternions can be treated as orientation transformations just like matrices.

If ' denotes inverse then:

T * T' = Identity

C * P' = C-parented-to-P

Algebra:
C * P' * P = {thing you're looking for} * P;

Confirm:
C = {thing you're looking for} * P;

[Edited by - bzroom on February 16, 2010 5:41:43 PM]

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