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Henry Weller authored
Using method based on http://ntrs.nasa.gov/archive/nasa/casi.ntrs.nasa.gov/20070017872.pdf but simplified for the case where the quaternions are similar.
fc32d538
Using method based on http://ntrs.nasa.gov/archive/nasa/casi.ntrs.nasa.gov/20070017872.pdf but simplified for the case where the quaternions are similar.