Quaternion to angular velocity
Trying to convert quartenion to angular velocity, for the subsequent visualization in rviz. Extract the roll, pitch, yaw angles from the quaternion using getRPY. But I can’t understand / find the conversion function for angular velocity from quaternion. please, help.
A quaternion encodes an orientation, not a velocity afaik. Are you differentiating things?
I found math functions to convert quaternion to angular velocity. W = dR / dt dR = R1 * R0 ^ -1 where R1 matrix3x3 is derived from the current quaternion, R0 ^ -1 matrix3x3 inverse from the previous quaternion, dt is the period between the current and the previous quaternions. Now I try to implement
Specifically, this led me to the fact that from my model in V-rep, the non-exact angular_velocity values are displayed, although I use it to poll sensors (accelerometer and horoscope). regular Api simGetObjectVelocity