SMC_Frame_Derive (FUN)

FUNCTION SMC_Frame_Derive : BOOL

Computes the numerical derivative of two frames

f0 = f(x-h/2), f1 = f(x+h/2) as

v = (f1.vT - f0.vT) / h q = ln(q1*q0^(-1)) / h

InOut:

Scope	Name	Type	Comment
Return	SMC_Frame_Derive	BOOL
Inout	v	SMC_Vector3D	The difference quotient of the position
Inout	q	SMC_Quat	The axis/angle difference quotient expressed as a quaternion
Inout Const	f0	SMC_Frame	The frame evaluated h/2 to the left
Inout Const	f1	SMC_Frame	The frame evaluated h/2 to the right
Input	h	LREAL	The step size, must be <> 0