public void Calculate_Qdot()
{
var expectedQ1 = -23 / Math.Sqrt(46);
var expectedQ2 = -15 / Math.Sqrt(46);
var expectedQ3 = 4 / Math.Sqrt(46);
var expectedQ4 = 9 / Math.Sqrt(46);
var testVector = new Vector3(-1, 8, 3);
var testQuaternion = new Quaternion(2, 1, 4, 5);
var actual = testQuaternion.GetQDot(testVector);
Assert.AreEqual(actual.Q1, expectedQ1, 1E-10);
Assert.AreEqual(actual.Q2, expectedQ2, 1E-10);
Assert.AreEqual(actual.Q3, expectedQ3, 1E-10);
Assert.AreEqual(actual.Q4, expectedQ4, 1E-10);
}
