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

o f

t h e

r o t a t i o n

m a t r i c e s

w i t h

r e s p e c t

t o

b o t h

t h e

a n g l e

a n d

t h e

a x i s