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

  derivatives of the rotation matrices with respect to both the angle and the axis