quat_deriv_to_angvel_mat Subroutine

public subroutine quat_deriv_to_angvel_mat(qdot, mat)

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

Arguments

Type	Intent	Optional	Attributes		Name
real(kind=rp),	intent(in),		dimension(4)	::	qdot	Derivative of a unit quaternion.
real(kind=rp),	intent(out),		dimension(3,4)	::	mat	Angular velocity matrix.