Numerical Stability

This issue came up at work today, I thought ya /prog/ peeps might have some info.

So what do ya'll know about the numerical stability of rotations with, matrices, euler angles, and quaterions.

Also what do you know about the methods for interpolating rotations, and which method maintains numerical stability across the interpolation operation.

CS student here.

dw OP, all the people here are about 17 years old and don't know much beyond their high school "programming" course and the groupthink that takes place on this board regarding java, C (OMG OPTIMIZED), etc.