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Quaternion Differentiation (2012)
I wanted to point someone to a short explanation of this today and noticed, with some surprise, that I couldn’t find something concise within 5 minutes of googling. So it seems worth writing …
I wanted to point someone to a short explanation of this today and noticed, with some surprise, that I couldn’t find something concise within 5 minutes of googling. Almost all sources I could find just magically pull a solution out of thin air, and those that give a derivation tend to make it way more complicated than necessary. In particular, it’s not usually mentioned that q(t) describes the orientation of a body with constant angular velocity, and similar for the crucial link to the exponential function.
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