Path: Common/Quaternion
% Small angle errors between two quaternions.
This routine gives the correct sign when both vectors transform from
frame a to frame b and frame b is the body frame. If the convention is
reversed you must reverse the sign.
To force the positive first element convention enter any 3rd argment.
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Form:
angle = QError( qRef, qMeas, pos )
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Inputs
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qRef (4,1) Reference quaternion
qMeas (4,1) Measured quaternion
pos (1,1) If entered make the first element positive
always
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Outputs
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angle (3,1) Vector of small angular errors (rad)
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Common: Quaternion/QMult Common: Quaternion/QPose
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