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Here's a unit rotation quaternion :

[tex]q(t) = [cos\frac{\theta(t)}{2} , \hat{u}(t)\cdot sin\frac{\theta(t)}{2}][/tex]

We know that if [tex]\hat{u}(t)[/tex] is constant, then our quaternion's derivative should be :

[tex]\dot{q}(t) = \frac{1}{2}\cdot q_\omega(t)\cdot q(t)[/tex]

But what if [tex]\hat{u}(t)[/tex] wasn't constant? What would it look like? Same thing?

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# Quaternion derivative

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