I have a dataset which contains rotational quaternions. How do I find the magnitude and direction (clockwise/anti-clockwise) of rotation between any two of the quaternions.
X Y Z W
-0.053306 0.006596 0.002506 0.998553
-0.053297 0.006629 0.002509 0.998554
-0.053327 0.006654 0.002514 0.998552