In computer vision, it has been proved that quaterion is both more accurate and computationally cheaper than rotation matrix. The only thing I'm not sure is how quaternion can be used for rotating tensors.
An example of using Quaternion in Julia can be found here.
https://github.com/henry2004y/Vlasiator.jl/blob/bab9edf873c48b64fe12a14377d322e3436693b0/src/utility/rotation.jl#L40
In computer vision, it has been proved that quaterion is both more accurate and computationally cheaper than rotation matrix. The only thing I'm not sure is how quaternion can be used for rotating tensors.
An example of using Quaternion in Julia can be found here.