### partial derivatives of TauHat

For simEngine3d track...

I understand that for this class, Our applied forces and torques are constants or, at most, a function of time. They are certainly not a function of position nor velocity.

Regarding Slide 33 from lecture 10/17/16:

I can easily see that F_r, F_p, F_rdot, and F_pdot will be zero matrices, because of the way F is defined (slide 26, lecture 10/05/16).

I can see that TauHat_r and TauHat_rdot will be zero matrices.

But from the definition of TauHat (slide 26, lecture 10/05/16), I see there are other terms that are functions of p and pdot (euler parameters).

I am struggling to understand how TauHat_p, TauHat_pdot are defined. Slide 33 doesn't explain it.

— Samuel

I understand that for this class, Our applied forces and torques are constants or, at most, a function of time. They are certainly not a function of position nor velocity.

Regarding Slide 33 from lecture 10/17/16:

I can easily see that F_r, F_p, F_rdot, and F_pdot will be zero matrices, because of the way F is defined (slide 26, lecture 10/05/16).

I can see that TauHat_r and TauHat_rdot will be zero matrices.

But from the definition of TauHat (slide 26, lecture 10/05/16), I see there are other terms that are functions of p and pdot (euler parameters).

I am struggling to understand how TauHat_p, TauHat_pdot are defined. Slide 33 doesn't explain it.

— Samuel