// after equation [QuaternionFeedbackRegulator] (22)
static Matrix calcP(Matrix a)
{
return(MatrixUtilities.identity(2) + calcAPlus(a) * a.transpose);
}
// after equation [QuaternionFeedbackRegulator] (22)
static Matrix calcP(Matrix a)
{
return(MatrixUtilities.identity(2) + calcAPlus(a) * a.transpose);
}