Tell me if I am wrong.
I'm starting using quaternions. Using a rotation matrix 4 x 4 (as used in OpenGL), I can compute model view matrix multiplying the current model view with a rotation matrix. The rotation matrix is derived from the quaternion.
The quaternion is a direction vector (even not normalized) and a rotation angle. Resulted rotation is dependent on the direction vector module and the w quaternion component.
But why I should use quaternions instead of Euler axis/angle notation? The latter is simpler to visualize and to manage...
All information that I found could be synthetized with this beatifull article: