deuler_dt
Rate of change of the Euler angles in time for a given angular velocity in A frame \(\omega^A=[p, q, r]\).
\[\begin{split}\begin{bmatrix}\dot{\phi} \\ \dot{\theta} \\ \dot{\psi}\end{bmatrix} =
\begin{bmatrix}
1 & \sin\phi\tan\theta & -\cos\phi\tan\theta \\
0 & \cos\phi & \sin\phi \\
0 & -\frac{\sin\phi}{\cos\theta} & \frac{\cos\phi}{\cos\theta}
\end{bmatrix}
\begin{bmatrix}
p \\ q \\ r
\end{bmatrix}\end{split}\]
- param euler:
Euler angles \([\phi, \theta, \psi]\) for roll, pitch and yaw, respectively.
- type euler:
np.ndarray
- returns:
Propagation matrix relating the rotational velocities to the euler angles.
- rtype:
np.ndarray