rot_deriv
rot_deriv(angle, axis, dAngle, dAxis):
Gives a rotational derivative w/r/t some unspecified coordinate (you have to supply the chain rule terms) Assumes that axis is a unit vector.
angle
:float
angle for rotation
axis
:np.ndarray
axis for rotation
dAngle
:float
chain rule angle deriv.
dAxis
:np.ndarray
chain rule axis deriv.
:returns
:np.ndarray
d e r i v a t i v e s
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