User talk:82.24.26.59

The article says "Quaternions give a simple way to encode this axis–angle representation in four numbers" but it does not say what the encoding is or provide a link to the encoding. Please (a) provide a simple explanation of how rotations are encoded in quaternions, or (b) provide a link perhaps to https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles.