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softec17
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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 discrepancy? Is there some nomenclature that is different. I am assuming \omega(t) to be the angular velocity of the body axis wrt the fixed frame and the quaternion is used to transform a vector from the fixed frame to the body frame.
Thanks for any help.
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 discrepancy? Is there some nomenclature that is different. I am assuming \omega(t) to be the angular velocity of the body axis wrt the fixed frame and the quaternion is used to transform a vector from the fixed frame to the body frame.
Thanks for any help.