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[Chareyre <question164547@xxxxxxxxxxxxxxxxxxxxx>]

Question #164547 on Yade changed:
https://answers.launchpad.net/yade/+question/164547

Chareyre proposed the following answer:
Quaternion are better yes, but maybe not simpler...
It should not be very difficult but I don't have the exact solution
coming to mind a.t.m.
Maybe something like $$rot=(q(t+dt)*q^{-1}(t))/dt$$, then get axis and
angle from rot?
You will have to read about quaternions arithmetic and run some tests to
be confident in a solution.

It is a bit ackward to have a list of orientations as input data. Isn't
there a chance to define the problem differently?

Bruno

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