> I did not encounter quaternions in all my years of engineering, although a lecturer once alluded to them during a class in my masters. I know that I am not c

> I did not encounter quaternions in all my years of engineering, although a lecturer once alluded to them during a class in my masters. I know that I am not coming in with same perspective as a lot of the other software engineers/graphics developers, but I started learning about quaternions freshman year of college. For aerospace engineering quaternions are used almost exclusively for spacecraft attitude determination and control. For a very dynamic system they are very useful. There are some limitations that I have seen, and I have seen Rodrigues parameters (or modified Rodrigues parameters) used instead which are mentioned near the end of the article.