def derivative(self, rate):
        """Get the instantaneous quaternion derivative representing a quaternion rotating at a 3D rate vector `rate`

        Params:
            rate: numpy 3-array (or array-like) describing rotation rates about the global x, y and z axes respectively.

        Returns:
            A unit quaternion describing the rotation rate
        """
        rate = self._validate_number_sequence(rate, 3)
        return 0.5 * self * Quaternion(vector=rate)
def derivative ( self , rate ) : rate = self . _validate_number_sequence ( rate , 3 ) return 0.5 * self * Quaternion ( vector = rate )
Get the instantaneous quaternion derivative representing a quaternion rotating at a 3D rate vector `rate`

        Params:
            rate: numpy 3-array (or array-like) describing rotation rates about the global x, y and z axes respectively.

        Returns:
            A unit quaternion describing the rotation rate