cleanup

Quaternions.jl

@@ -29,14 +29,13 @@ end
 
 function QuaternionMultiplication(l::Quaternion, r::Quaternion)
     R = [
-        r.r r.k -r.j r.i
+        r.r r.k r.j r.i
         -r.k r.r r.i r.j
         r.j -r.i r.r r.k
         -r.i -r.j -r.k r.r
     ]
     L = [l.i; l.j; l.k; l.r]
     return Quaternion(R * L)
-
 end
 
 Base.:*(l::Quaternion, r::Quaternion) =

SADC.jl

@@ -2,7 +2,6 @@ using LinearAlgebra
 using NumericalIntegration
 using ProgressBars
 
-
 include("Quaternions.jl")
 
 dt = 0.005
@@ -18,7 +17,6 @@ q = Quaternion([0; 0; 0; 1])
 
 ω_last = [0; 0; 0; ω]
 ω0 = copy(ω_last)
-ω_area = [0; 0; 0; 0; 0; 0]
 
 β = [0; 0; 0]
 
@@ -26,7 +24,6 @@ integrate_ω(T, I, ω) = Iinv * (T - cross(ω, I * ω))
 
 function q_step(β)
     mag = β .^ 2 |> sum |> sqrt
-
     Quaternion([normalize(β) .* sin(mag / 2); cos(mag / 2)])
 
 end
@@ -42,16 +39,14 @@ end
 
 qs = []
 for t in ProgressBar(time)
-    # t = collect(time)[1]
     ω′ = integrate_ω(T, I, ω)
 
 
     ω_new = integrate_vector([ω; ω′], ω_last)
     β = ω_new[1:3] .- β
 
-    ω_last = [ω; ω′]
     ω = ω_new[4:6] .- ω
-    ω_area = ω_new .+ ω_area
+    ω_last = [ω; ω′]
 
     q = q * q_step(β)