[boost] [boost.QVM] can you explain quaternions in the docs?

Hi Everyone, I landed on this library docs when trying to learn what quarterions are for. Although the library has a vast documentation it doesn't explain what quaternions are and why they are used. When I was taught algebra for the purpose of computer graphics, vectors and matrices were on the table, but no quaternions. The examples show that I need to create a quaternion only to turn it into a rotation matrix. I am pretty sure there has to be more to it. Could I request an introduction section in the docs that would explain what quaternions are and why one would want to use them? The corresponding GitHub issue: https://github.com/boostorg/qvm/issues/51 Regards, &rzej;