*change*in orientation and the object's current orientation you can multiply the current orientation by the rate of change in orientation to calculate the new orientation. Now the thing about quaternions it that multiplying two together isn't straight forward. For those not familiar this link here:

http://www.cprogramming.com/tutorial/3d/quaternions.html

describes how to multiply two quaternions together. However like I said what if I want to keep track of translation as well as orientation? Again I would need a vector of seven dimensions, a 'septernion'. But given that quaternion multiplication is not straight forward how would i multiply two septernions together? And further to do so in such a way that by multiplying an objects current septernion by a septernion describing it's rate of change in rotation and position calculate a new septernion describing it's location and orientation after the change has been applied?