quat_deriv_from_angvel Subroutine

public subroutine quat_deriv_from_angvel(q, angvel, qdot)

Calculates the time derivative of a unit quaternion from angular velocity.

Arguments

Type	Intent	Optional	Attributes		Name
real(kind=rp),	intent(in),		dimension(4)	::	q	Unit quaternion.
real(kind=rp),	intent(in),		dimension(3)	::	angvel	Angular velocity.
real(kind=rp),	intent(out),		dimension(4)	::	qdot	Time derivative of q.