quadskewΒΆ

Generates the matrix needed to obtain the quaternion in the following time step through integration of the FoR angular velocity.

param vector

FoR angular velocity

type vector

np.array

Notes

The angular velocity is assumed to be constant in the time interval Equivalent to lib_xbeam function Quaternion ODE to compute orientation of body-fixed frame a See Shearer and Cesnik (2007) for definition

returns

matrix

rtype

np.array