I am trying to calculate the time derivative of the quaternion from the following paper: Robotics and Biomimetics (ROBIO)
See equation 1 below:
$\displaystyle{\dot{q}(t)=\frac{1}{2}q(t)\circ\vec{\omega}'(t)}.$
I'm simulating a rigid body dynamics and I'm trying to find the angular velocity, the velocity, the acceleration and position.
How can i find the $ω$, angular velocity and the new position.
I know that: (Equation 2)
$\omega_{average}=\dfrac{\Delta\theta}{\Delta t}$
Equation 3
Equation 4
