This function projects a quaternion time series into the space of angular velocities.
Arguments
- x
An object of class qts.
- body_frame
A boolean specifying whether the fixed frame with respect to which coordinates of the angular velocity should be computed is the body frame or the global frame. Defaults to
FALSE.
Value
A time series stored as a tibble::tibble with columns time, x,
y and z containing the angular velocity at each time point.
Examples
qts2avts(vespa64$igp[[1]])
#> # A tibble: 100 × 4
#> time x y z
#> <dbl> <dbl> <dbl> <dbl>
#> 1 1 -0.0103 -0.00465 -0.0000691
#> 2 2 -0.0105 -0.00624 -0.000639
#> 3 3 -0.0107 -0.00738 -0.00151
#> 4 4 -0.00905 -0.00697 -0.00218
#> 5 5 -0.00766 -0.00673 -0.00274
#> 6 6 -0.00608 -0.00637 -0.00325
#> 7 7 -0.00453 -0.00621 -0.00387
#> 8 8 -0.00365 -0.00642 -0.00451
#> 9 9 -0.00327 -0.00697 -0.00501
#> 10 10 -0.00376 -0.00742 -0.00521
#> # ℹ 90 more rows