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quaternions and differentiation

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vandelay

vandelay

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Can a quaternion rotation be differentiated in an easier way than the geometric functions it is composed of :?: The mathematics in the quaternion is so elegant with the 3D imaginary space, but I need to differentiate them and the way I do it is backwards... decompose the quaternion and differentiate the trigonometric components.. so computing intensive.. :cry:
 

I should add that I want to differentiate them with respect to rotation angles..
 

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