Provides change of quaternion, dquat, due to elementary rotation, dcrv, expressed as a 3 components Cartesian rotation vector such that
where C are rotation matrices.
- Assume 3 FoRs, G, A and B where:
G is the initial FoR
quat0 defines te rotation required to obtain A from G, namely: Cga=quat2rotation(quat0)
dcrv is an inifinitesimal Cartesian rotation vector, defined in A components, which describes an infinitesimal rotation A -> B, namely:
..math :: Cab=crv2rotation(dcrv)
- The total rotation G -> B is:
Cga = Cga * Cab
As dcrv -> 0, Cga is equal to:\[algebra.quat2rotation(quat0 + dquat),\]
where dquat is the output of this function.