diff --git a/basic-geometry/posture3.c b/basic-geometry/posture3.c
index f3e76b2..87dd872 100644
--- a/basic-geometry/posture3.c
+++ b/basic-geometry/posture3.c
@@ -12,6 +12,8 @@ extern inline void bgc_fp64_posture3_swap(BGC_FP64_Posture3* posture1, BGC_FP64_
 extern inline void bgc_fp32_posture3_convert_to_fp64(BGC_FP64_Posture3* destination, const BGC_FP32_Posture3* source);
 extern inline void bgc_fp64_posture3_convert_to_fp32(BGC_FP32_Posture3* destination, const BGC_FP64_Posture3* source);
 
+extern inline void bgc_fp32_posture3_combine(BGC_FP32_Posture3* combination, const BGC_FP32_Posture3* first, const BGC_FP32_Posture3* second);
+extern inline void bgc_fp64_posture3_combine(BGC_FP64_Posture3* combination, const BGC_FP64_Posture3* first, const BGC_FP64_Posture3* second);
 
 void _bgc_fp32_posture3_normalize(BGC_FP32_Posture3* posture, const float square_magnitude)
 {
@@ -22,8 +24,7 @@ void _bgc_fp32_posture3_normalize(BGC_FP32_Posture3* posture, const float square
 
     const float multiplier = sqrtf(1.0f / square_magnitude);
 
-    bgc_fp32_quaternion_multiply_by_real(&posture->_real_part, &posture->_real_part, multiplier);
-    bgc_fp32_quaternion_multiply_by_real(&posture->_dual_part, &posture->_dual_part, multiplier);
+    bgc_fp32_dual_quaternion_multiply_by_real_number(&posture->_versor, &posture->_versor, multiplier);
 }
 
 void _bgc_fp64_posture3_normalize(BGC_FP64_Posture3* posture, const double square_magnitude)
@@ -35,6 +36,5 @@ void _bgc_fp64_posture3_normalize(BGC_FP64_Posture3* posture, const double squar
 
     const double multiplier = sqrt(1.0 / square_magnitude);
 
-    bgc_fp64_quaternion_multiply_by_real(&posture->_real_part, &posture->_real_part, multiplier);
-    bgc_fp64_quaternion_multiply_by_real(&posture->_dual_part, &posture->_dual_part, multiplier);
+    bgc_fp64_dual_quaternion_multiply_by_real_number(&posture->_versor, &posture->_versor, multiplier);
 }
diff --git a/basic-geometry/posture3.h b/basic-geometry/posture3.h
index 014ea2e..1427bb0 100644
--- a/basic-geometry/posture3.h
+++ b/basic-geometry/posture3.h
@@ -15,66 +15,61 @@ void _bgc_fp64_posture3_normalize(BGC_FP64_Posture3* posture, const double squar
 
 inline void bgc_fp32_posture3_reset(BGC_FP32_Posture3* posture)
 {
-    posture->_real_part.s0 = 1.0f;
-    posture->_real_part.x1 = 0.0f;
-    posture->_real_part.x2 = 0.0f;
-    posture->_real_part.x3 = 0.0f;
+    posture->_versor.real_part.s0 = 1.0f;
+    posture->_versor.real_part.x1 = 0.0f;
+    posture->_versor.real_part.x2 = 0.0f;
+    posture->_versor.real_part.x3 = 0.0f;
 
-    posture->_dual_part.s0 = 0.0f;
-    posture->_dual_part.x1 = 0.0f;
-    posture->_dual_part.x2 = 0.0f;
-    posture->_dual_part.x3 = 0.0f;
+    posture->_versor.dual_part.s0 = 0.0f;
+    posture->_versor.dual_part.x1 = 0.0f;
+    posture->_versor.dual_part.x2 = 0.0f;
+    posture->_versor.dual_part.x3 = 0.0f;
 }
 
 inline void bgc_fp64_posture3_reset(BGC_FP64_Posture3* posture)
 {
-    posture->_real_part.s0 = 1.0;
-    posture->_real_part.x1 = 0.0;
-    posture->_real_part.x2 = 0.0;
-    posture->_real_part.x3 = 0.0;
+    posture->_versor.real_part.s0 = 1.0;
+    posture->_versor.real_part.x1 = 0.0;
+    posture->_versor.real_part.x2 = 0.0;
+    posture->_versor.real_part.x3 = 0.0;
 
-    posture->_dual_part.s0 = 0.0;
-    posture->_dual_part.x1 = 0.0;
-    posture->_dual_part.x2 = 0.0;
-    posture->_dual_part.x3 = 0.0;
+    posture->_versor.dual_part.s0 = 0.0;
+    posture->_versor.dual_part.x1 = 0.0;
+    posture->_versor.dual_part.x2 = 0.0;
+    posture->_versor.dual_part.x3 = 0.0;
 }
 
 // ==================== Copy ==================== //
 
 inline void bgc_fp32_posture3_copy(BGC_FP32_Posture3* destination, const BGC_FP32_Posture3* source)
 {
-    bgc_fp32_quaternion_copy(&destination->_real_part, &source->_real_part);
-    bgc_fp32_quaternion_copy(&destination->_dual_part, &source->_dual_part);
+    bgc_fp32_dual_quaternion_copy(&destination->_versor, &source->_versor);
 }
 
 inline void bgc_fp64_posture3_copy(BGC_FP64_Posture3* destination, const BGC_FP64_Posture3* source)
 {
-    bgc_fp64_quaternion_copy(&destination->_real_part, &source->_real_part);
-    bgc_fp64_quaternion_copy(&destination->_dual_part, &source->_dual_part);
+    bgc_fp64_dual_quaternion_copy(&destination->_versor, &source->_versor);
 }
 
 // ==================== Swap ==================== //
 
 inline void bgc_fp32_posture3_swap(BGC_FP32_Posture3* posture1, BGC_FP32_Posture3* posture2)
 {
-    bgc_fp32_quaternion_swap(&posture1->_real_part, &posture2->_real_part);
-    bgc_fp32_quaternion_swap(&posture1->_dual_part, &posture2->_dual_part);
+    bgc_fp32_dual_quaternion_swap(&posture1->_versor, &posture2->_versor);
 }
 
 inline void bgc_fp64_posture3_swap(BGC_FP64_Posture3* posture1, BGC_FP64_Posture3* posture2)
 {
-    bgc_fp64_quaternion_swap(&posture1->_real_part, &posture2->_real_part);
-    bgc_fp64_quaternion_swap(&posture1->_dual_part, &posture2->_dual_part);
+    bgc_fp64_dual_quaternion_swap(&posture1->_versor, &posture2->_versor);
 }
 
 // ================== Convert =================== //
 
 inline void bgc_fp32_posture3_convert_to_fp64(BGC_FP64_Posture3* destination, const BGC_FP32_Posture3* source)
 {
-    bgc_fp32_quaternion_convert_to_fp64(&destination->_real_part, &source->_real_part);
-    bgc_fp32_quaternion_convert_to_fp64(&destination->_dual_part, &source->_dual_part);
+    bgc_fp32_dual_quaternion_convert_to_fp64(&destination->_versor, &source->_versor);
 
-    const double square_magnitude = bgc_fp64_quaternion_get_square_magnitude(&destination->_real_part);
+    const double square_magnitude = bgc_fp64_quaternion_get_square_magnitude(&destination->_versor.real_part);
 
     if (!bgc_fp64_is_square_unit(square_magnitude)) {
         _bgc_fp64_posture3_normalize(destination, square_magnitude);
@@ -83,10 +78,9 @@ inline void bgc_fp32_posture3_convert_to_fp64(BGC_FP64_Posture3* destination, co
 
 inline void bgc_fp64_posture3_convert_to_fp32(BGC_FP32_Posture3* destination, const BGC_FP64_Posture3* source)
 {
-    bgc_fp64_quaternion_convert_to_fp32(&destination->_real_part, &source->_real_part);
-    bgc_fp64_quaternion_convert_to_fp32(&destination->_dual_part, &source->_dual_part);
-
-    const float square_magnitude = bgc_fp32_quaternion_get_square_magnitude(&destination->_real_part);
+    bgc_fp64_dual_quaternion_convert_to_fp32(&destination->_versor, &source->_versor);
+    
+    const float square_magnitude = bgc_fp32_quaternion_get_square_magnitude(&destination->_versor.real_part);
 
     if (!bgc_fp32_is_square_unit(square_magnitude)) {
         _bgc_fp32_posture3_normalize(destination, square_magnitude);
@@ -95,9 +89,26 @@ inline void bgc_fp64_posture3_convert_to_fp32(BGC_FP32_Posture3* destination, co
 
 // ================== Combine =================== //
 
-inline void bgc_fp32_posture3_combine(BGC_FP32_Posture3* combination, const BGC_FP64_Posture3* first, const BGC_FP64_Posture3* second)
+inline void bgc_fp32_posture3_combine(BGC_FP32_Posture3* combination, const BGC_FP32_Posture3* first, const BGC_FP32_Posture3* second)
 {
+    bgc_fp32_dual_quaternion_multiply_by_dual_quaternion(&combination->_versor, &second->_versor, &first->_versor);
 
+    const float square_magnitude = bgc_fp32_quaternion_get_square_magnitude(&combination->_versor.real_part);
+
+    if (!bgc_fp32_is_square_unit(square_magnitude)) {
+        _bgc_fp32_posture3_normalize(combination, square_magnitude);
+    }
+}
+
+inline void bgc_fp64_posture3_combine(BGC_FP64_Posture3* combination, const BGC_FP64_Posture3* first, const BGC_FP64_Posture3* second)
+{
+    bgc_fp64_dual_quaternion_multiply_by_dual_quaternion(&combination->_versor, &second->_versor, &first->_versor);
+
+    const double square_magnitude = bgc_fp64_quaternion_get_square_magnitude(&combination->_versor.real_part);
+
+    if (!bgc_fp64_is_square_unit(square_magnitude)) {
+        _bgc_fp64_posture3_normalize(combination, square_magnitude);
+    }
 }
 
 #endif
diff --git a/basic-geometry/types.h b/basic-geometry/types.h
index 430709f..ba9961e 100644
--- a/basic-geometry/types.h
+++ b/basic-geometry/types.h
@@ -214,11 +214,11 @@ typedef struct {
 // ================== Posture3 ================== //
 
 typedef struct {
-    BGC_FP32_Quaternion _real_part, _dual_part;
+    BGC_FP32_DualQuaternion _versor;
 } BGC_FP32_Posture3;
 
 typedef struct {
-    BGC_FP64_Quaternion _real_part, _dual_part;
+    BGC_FP64_DualQuaternion _versor;
 } BGC_FP64_Posture3;
 
 #endif