def METHOD_NAME(self, phi, theta, phiDot, thetaDot, psiDot):
    '''convert a set of roll rates from earth frame to body frame'''
    p = phiDot - psiDot*math.sin(theta)
    q = math.cos(phi)*thetaDot + math.sin(phi)*psiDot*math.cos(theta)
    r = math.cos(phi)*psiDot*math.cos(theta) - math.sin(phi)*thetaDot
    return (p, q, r)