RateFromDQ:

Path: SpacecraftEstimation/StellarAttDet

% Computes angular rate from the equation mDot = m*Skew(w)

   Since version 3.
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   Form:
   w = RateFromDQ( q, qOld, dT )
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   ------
   Inputs
   ------
   q          (4,1)         Quaternion
   qOld       (4,1)         Last quaternion
   dT         (1,1)         Time step

   -------
   Outputs
   -------
   w          (3,1)         Rate (rad/sec)

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Children:

Common: Quaternion/QMult
Common: Quaternion/QPose
Math: Linear/Unit

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