I am trying to implement in Python the Runge-Kutta-Munthe-Kaas integration for SE(3) for Euler’s method and RK4 for a simple trajectory with constant speed and angular velocity in the body frame.
I think I understand how to use Euler's method and RK4 but I don't know how to formulate the function/equation to be solved given what I mentioned. I would appreciate any help on this.