1 | initial version |

Quaternions are the angular part of a non-moving pose. Angular velocity is a measurement of how fast an object is rotating about a certain point.

If you're looking for prediction, I suggest using forward Euler.

```
theta_t = theta_t-1 + omega_theta * dtheta/dt
```

Where theta is an angle and omega is the angular velocity.

You'll likely want to convert between quaternion and euler notation, in which ros has the following functions

```
import tf
quat = tf.transformations.quaternion_from_euler(roll, pitch, yaw)
(roll, pitch, yaw) = tf.transformations.euler_from_quaternion(quat)
```

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