line 291 of integ.cpp converts parent frame angular velocity to parent space Euler parameter(namely quaternion) velocity. The angvel2epdot function seems to be using the formula q' = 0.5q(0, w), where q' is the derivative of q, qis current parent frame quaternion and w is parent frame anglular velocity.
But this is a body frame formula for converting angular velocity to quaternion derivative. In parent frame, shouldn't we use q' = 0.5(0,w)q?
line 291 of integ.cpp converts parent frame angular velocity to parent space Euler parameter(namely quaternion) velocity. The
angvel2epdotfunction seems to be using the formulaq' = 0.5q(0, w), whereq' is the derivative ofq,qis current parent frame quaternion andwis parent frame anglular velocity.But this is a body frame formula for converting angular velocity to quaternion derivative. In parent frame, shouldn't we use
q' = 0.5(0,w)q?