Symplectic corrector

The use of conjugacy as a method to develop enhanced numerical methods was introduced in [397] under the name symplectic correctors. 

Wisdom, J., Holman, M., Touma, J. Symplectic correctors. In Integrationtil Algorithms and Classical Mechanics. American Mathematical Sodety, Providence (1996). ISBN 978-0821802595... 

Thus we find that the choice of quaternion variables introduces barriers to efficient symplectic-reversible discretization, typically forcing us to use some off-the-shelf explicit numerical integrator for general systems such as a Runge-Kutta or predictor-corrector method. 

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