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