Speaking of gimbal lock - it was a real (as opposed to only theoretical/mathematical) concern for navigation during the Apollo 11 moon landing [1]. Euler angle

Speaking of gimbal lock - it was a real (as opposed to only theoretical/mathematical) concern for navigation during the Apollo 11 moon landing [1]. Euler angles are fugly and annoying. Quarternions are clean and refreshing. [1] https://apollo11space.com/apollo-and-gimbal-lock/ https://apollo11space.com/apollo-and-gimbal-lock/