John Denker wrote:
> A possibly helpful discussion of rotations can be found at
>   http://www.av8n.com/physics/rotations.htm

Thanks for the hints and links John, I really appreciate it.
> 
> It covers various ways of representing rotations, including
> product-of-vectors i.e. Clifford algebra i.e. quaternions, 
> matrices, Rodrigues vectors, and Euler angles.  It discusses
> how to compute with such things, and how to convert from one
> to another.
> 
> If any of it seems unduly unclear, please let me know.
> 
> 
> PS You'll have more luck googling for information if you
> stick to the standard spelling of _quaternions_.

While this isn't exactly what I meant when I asked for 'at' from 
quaternations it does explain why I saw a lot of talk about them when 
searching for it, but no reeal explanation.

Erik

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