FUNCTION SMC_Quat1_Derive : BOOL
Computes the numerical derivative of two unit quaternions
q0 = q(x-h/2), q1 = q(x+h/2) as
q = ln(q1*q0^(-1)) / h.
InOut:
|
Scope |
Name |
Type |
Comment |
|
Return |
SMC_Quat1_Derive |
BOOL |
|
|
Inout |
q |
The axis/angle difference quotient expressed as a quaternion |
|
|
Inout Const |
q0 |
The unit quaternion evaluated h/2 to the left |
|
|
q1 |
The unit quaternion evaluated h/2 to the right |
||
|
Input |
h |
LREAL |
The step size, must be <> 0 |
