Function navtk::navutils::d_quat_prop_wrt_r

Defined in File derivatives.hpp

Function Documentation

Matrix navtk::navutils::d_quat_prop_wrt_r(const Vector4 &q, const Vector3 &r)

Derivative of the quaternion ‘small rotation’ propagation function, wrt tilts.

See Titterton + Weston 2nd ed, eqs 11.39 and 11.40. Derivative does not exist when the magnitude of the rotation is 0. Result will include ‘inf’ in this case.

Parameters

q – Quaternion that rotates from the platform frame at time t0 to the reference frame.
r – Small rotation vector, rad.

Returns

Derivative (4x3) wrt and evaluated at r.