startracker.py
def extrapolate_matrix(A, B, t1, t2, t3):
    """Calculate error angles between A and B via small angle approximation.

    of MRPs.
    """
    r = np.dot(B, np.transpose(A))
    dq = a2q(r)
    dp = np.array(
        [dq[0],
         dq[1],
         dq[2]]) / (1 + dq[3])
    angles_ab = 4 * dp

    # Extrapolate to new error angles between B and C.
    angles_bc = angles_ab / (t2 - t1) * (t3 - t2)

    # Convert to a quaternion via small angle approximation, then get C.
    c = q2a(np.array(
        [0.5 * angles_bc[0],
         0.5 * angles_bc[1],
         0.5 * angles_bc[2],
         1]))

    return (c, (1000000.0) * angles_ab / (t2 - t1))
Calculate error angles between A and B via small angle approximation.

    of MRPs.
    
Calculate error angles between A and B via small angle approximation.
Calculate error angles between A and B via small angle approximation .
def extrapolate_matrix(A, B, t1, t2, t3):
    r = np.dot(B, np.transpose(A))
    dq = a2q(r)
    dp = np.array(
        [dq[0],
         dq[1],
         dq[2]]) / (1 + dq[3])
    angles_ab = 4 * dp
    angles_bc = angles_ab / (t2 - t1) * (t3 - t2)
    c = q2a(np.array(
        [0.5 * angles_bc[0],
         0.5 * angles_bc[1],
         0.5 * angles_bc[2],
         1]))
    return (c, (1000000.0) * angles_ab / (t2 - t1))
def extrapolate_matrix ( A , B , t1 , t2 , t3 ) : r = np . dot ( B , np . transpose ( A ) ) dq = a2q ( r ) dp = np . array ( [ dq [ 0 ] , dq [ 1 ] , dq [ 2 ] ] ) / ( 1 + dq [ 3 ] ) angles_ab = 4 * dp angles_bc = angles_ab / ( t2 - t1 ) * ( t3 - t2 ) c = q2a ( np . array ( [ 0.5 * angles_bc [ 0 ] , 0.5 * angles_bc [ 1 ] , 0.5 * angles_bc [ 2 ] , 1 ] ) ) return ( c , ( 1000000.0 ) * angles_ab / ( t2 - t1 ) )
Calculate error angles between A and B via small angle approximation.
Calculate error angles between A and B via small angle approximation .
"""Calculate error angles between A and B via small angle approximation.

    of MRPs.
    """ # Extrapolate to new error angles between B and C. # Convert to a quaternion via small angle approximation, then get C.
A
B
t1
t2
t3