quat_deriv_to_angvel Subroutine

public subroutine quat_deriv_to_angvel(q, qdot, angvel)

Calculates the angular velocity from a unit quaternion and its time derivative.

Arguments

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