It takes a special type of engineer to explore advanced abstractions and get familiar with them. An exceptional engineer, really.
What would be the best way to define "transform" here? What I mean is something that can be applied to a point, like a linear map. So translation, and/or rotation, and/or scaling, and/or skewing, are all things that can be done by this "transform" in 3D.
In computer graphics these are often expressed as 3x3 or 4x3 (or sometimes 4x4) matrices. But a "translation+quaternion" can also be a transform, or just a quaternion (a unit quaternion can be used to rotate points for example). So I'd be happy to use a better definition for "transform" than 'given a transform T that can be applied to a point' but I'm not quite sure what the best definition would be.