calculus¶
Overview
rowan.calculus.derivative |
Compute the instantaneous derivative of unit quaternions. |
rowan.calculus.integrate |
Integrate unit quaternions by angular velocity. |
Details
This subpackage provides the ability to compute the derivative and integral of a quaternion.
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rowan.calculus.
derivative
(q, v)¶ Compute the instantaneous derivative of unit quaternions.
Parameters: - q ((..,4) np.array) – Quaternions to integrate
- v ((..,3) np.array) – Angular velocities
Returns: An array containing the element-wise derivatives.
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rowan.calculus.
integrate
(q, v, dt)¶ Integrate unit quaternions by angular velocity.
Parameters: - q ((..,4) np.array) – Quaternions to integrate
- v ((..,3) np.array) – Angular velocities
- dt ((..) np.array) – Timesteps
Returns: An array containing the element-wise integral of the quaternions in q.