In Quaternions and Rotation Sequences by Jack B. Kuipers (pg. 264-265)
the quaternion derivative is defined as:
\frac{dq}{dt}=q(t)\overline{\omega}(t)
But in many published papers, I have seen the derivative defined instead as
\frac{dq}{dt}=\frac{1}{2}q(t)\omega(t)
Why is there a...