rot_deriv2

rot_deriv2(angle, axis, dAngle1, dAxis1, dAngle2, dAxis2, d2Angle, d2Axis): 

Gives a rotation matrix second derivative w/r/t some unspecified coordinate (you have to supply the chain rule terms)

• 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

o f

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m a t r i c e s

w i t h

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b o t h

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a n g l e

a n d

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