quat_deriv_from_angvel_mat Subroutine

public subroutine quat_deriv_from_angvel_mat(q, mat)

Returns the matrix mapping angular velocity to time derivative of a unit quaternion.

Arguments

Type	Intent	Optional	Attributes		Name
real(kind=rp),	intent(in),		dimension(4)	::	q	Unit quaternion.
real(kind=rp),	intent(out),		dimension(4,3)	::	mat	Quaternion derivative matrix.