calculus

Overview

rowan.calculus.derivative	Compute the instantaneous derivative of unit quaternions.
rowan.calculus.integrate	Integrate unit quaternions by angular velocity.

Details

This subpackage provides the ability to compute the derivative and integral of a quaternion.

rowan.calculus.derivative(q, v)

Compute the instantaneous derivative of unit quaternions.

Parameters:

• q ((..,4) np.array) – Quaternions to integrate
• v ((..,3) np.array) – Angular velocities

Returns:

An array containing the element-wise derivatives.

rowan.calculus.integrate(q, v, dt)

Integrate unit quaternions by angular velocity.

Parameters:

• q ((..,4) np.array) – Quaternions to integrate
• v ((..,3) np.array) – Angular velocities
• dt ((..) np.array) – Timesteps

Returns:

An array containing the element-wise integral of the quaternions in q.