Question about integ.cpp, line 291

[chubei]

line 291 of integ.cpp converts parent frame angular velocity to parent space Euler parameter(namely quaternion) velocity. The angvel2epdot function seems to be using the formula q' = 0.5q(0, w), where q' is the derivative of q, q is current parent frame quaternion and w is parent frame anglular velocity.

But this is a body frame formula for converting angular velocity to quaternion derivative. In parent frame, shouldn't we use q' = 0.5(0,w)q?