Mathematical constructions, number systems. In 3D-graphics quaternions are used alongside vectors and matrices. One of the benefits of quaternions is that they overcome some rotational problems (known as gimbal locks) that are inherent to vectors and matrices.

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How can you visualize a quaternion?

When I visualise a three dimensional rotation matrix, or scaling matrix I visualize it as three axes. Is there a similar way that I can visualize a rotation quaternion?